[2017-07-19] Kobuki getting started on Jetson TX2

July 19, 2017

Kobuki getting started on Jetson TX2

The Kobuki driver is a simple c++ library that allows interfacing to the kobuki mobile research base. This post refers to Installation - Linux.

ROS Installation on Jetson TX2

ROS install

Install ROS

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-ros-base -y
$ sudo apt-get install python-rosdep -y
$ sudo c_rehash /etc/ssl/certs
$ sudo rosdep init
$ rosdep update

Environment setup

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Install rosinstall

$ sudo apt-get install python-rosinstall -y

Kobuki driver installation on Jetson TX2

Install packages

$ sudo apt-get install python-wstool cmake python-catkin-pkg python-empy python-nose python-setuptools build-essential

Catkin workspace

$ mkdir kobuki_core
$ wstool init -j5 kobuki_core/src https://raw.github.com/yujinrobot/kobuki_core/devel/kobuki_core.rosinstall
$ cd kobuki_core
$ export PATH=`pwd`/src/catkin/bin/:${PATH}
$ catkin_make_isolated --install

Testing your installation

$ cd kobuki_core
$ export LD_LIBRARY_PATH=`pwd`/install_isolated/lib
$ ./install_isolated/lib/kobuki_driver/demo_kobuki_simple_loop