Robotnik Kobuki Turtlebot 2 - Upgrading the Firmware; RPLIDAR

Kobuki Turtlebot II. User’s Manual
4.4 Upgrading the firmware
One of the nice features of Kobuki is that the user can update the firmware released by
Yujin themselves. When a new firmware version is uploaded, this can be manually flashed
onto the robot via usb without the need for special equipment like JTAG devices.
Follow the instructions matching the operating system you will connect to the robot for the
flashing operation. For further information, please refer to the official site
http://kobuki.yujinrobot.com.
*All robots are provided with the last firmware by default.
4.5 Additional components
The installation of additional components like 2D lasers, arms, ... requires some additional
configuration efforts.
1. Create a catkin workspace.
2. Installation of Robotnik alternative Turtlebot repository
a. https://github.com/RobotnikAutomation/turtlebot
b. Clone the repository into the workspace (catkin_ws/src) and compile it
c. Add the following into the .bashrc
i. source ~/catkin_ws/devel/setup.bash
3. Other dependencies to install:
a. https://github.com/RobotnikAutomation/widowx_arm
b. https://github.com/RobotnikAutomation/phantomx_reactor_arm
4. catkin_make desde la carpeta ~/catkin_ws.
4.5.1 RPLIDAR
Dependencies:
c d
*ros-kinetic-rplidar-ros
Add the following variable environments into the .bashrc and reload it:
export TURTLEBOT_TOP_PLATE_DEVICE=rplidar
export TURTLEBOT_3D_SENSOR=no3d
1. Create the udev rules:
a. > roscd turtlebot_scripts
2. Run the script contained in the scripts folder:
a. > ./scripts/create_rplidar_udev_rules
b. The device should be linked in /dev/rplidar
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