Kobuki (Turtlebot2) installation guide -- Help needed

[Ankit Ravankar]

Dear Patrick,

Our lab recently got the new kobuki base platform. I understand the RBX has been written with reference to irobot create base. 

I wanted to know whether most of the commands and tutorials work the same way for the turtlebot 2, except wherever the launch files for 

kobuki has to be changed. 

Also, we will be adding additional sensors like camera and laser scanners to the new kobuki aka turtlebot 2. So, the previous guides 

regarding installing laser sensor by modifying the turtlebot 1 URDF holds true to the new kobuki base as well? My concerns are with the 

calibration part. Previously, when using the create base, you suggested to do a calibration with the laser sensor attached. 

Since not much is written on the ros wiki page on adding laser sensors to the turtlebot2, do you suggest calibrating again using the laser sensors (after modifying the URDF).

Or the kobuki is good enough to run without calibration (as it comes with a factory calibrated gyro). (Sorry, I know you do not have a kobuki base, but some one from the forum might help me with this.)

I am also confused on workstation and robot pc's. We plan to use two laptops for both the turtlebot1 and turtlebot 2. How is the compatibility for the two pc's when using the same pc's 

for create and kobuki. Or do you suggest dedicating another set of pc's for the new turtlebot2. I am thinking of clean install of ubuntu precise with ros hydro on both pc's. 

Thank you

Ankit 

[Patrick Goebel]

Hi Ankit,

Most of the code in RBX should work with the Kobuki except, like you say, some of the launch files specific to the TurtleBot 1.  As I understand it, the Kobuki ROS packages are split into two groups:  there are the Kobuki-specific packages and the TurtleBot packages.  Most of the TurtleBot packages in ROS Hydro have been updated for the Kobuki and in fact, they use the Kobuki settings by default.  Also, the URDF model already has plates and a 3D camera.  But yes, you can modify this URDF model the same way you did with the TurtleBot 1 if you want to add a laser scanner or other sensors.

As for calibration, I understand that the factory calibration is good enough to get started.  The odometry on the original TurtleBot was not very good, especially during rotations, so calibration and the use of a gyro was necessary.  The Kobuki's odometry is much better and, like you said, the gyro is factory calibrated.

As for workstations and laptops, my understanding is that the only requirement is that you run the same version of ROS on everything.  Also, if you plan to do some heavy vision processing directly on the robot, then you want the most powerful laptop to go with it.

Have fun!
patrick