Robotnik Kobuki Turtlebot 2 - First Steps; Launching Kobuki; Testing the Hardware

Kobuki Turtlebot II. User’s Manual
5. First steps
In this section will be described the procedure to start and test the main parts of the robot.
5.1 Launching Kobuki
First, start minimal.launch to bring up Kobuki's basic software (bootstrap layer). We use the
argument --screen to get verbose output in the terminal.
$> roslaunch kobuki_node minimal.launch --screen
This launch file starts a nodelet manager and loads the Kobuki nodelet (the ROS wrapper around
Kobuki's driver).
$> roslaunch kobuki_keyop keyop.launch
This launch file starts the control of the robot using the keyboard keys.
$> roslaunch kobuki_node kobuki_state_publisher.launch
This launch file starts a node that publish the TF transformation using the robot’s *.urdf file.
5.2 Testing the hardware
The kobuki_testsuite package provides a bunch of scripts to thoroughly test specific kobuki
hardware components.
Testing events
$> rosrun kobuki_testsuite test_events.py
Testing digital ouputs
$> rosrun kobuki_testsuite test_digital_output.py
Testing analog inputs
$> rosrun kobuki_testsuite test_analog_input.py
Testing battery voltage
$> rosrun kobuki_testsuite test_battery_voltage.py
27