Kobuki_soft

(Meta Package)

Joosoon Lee
2018. 06. 16

Gwangju Institute of Science and Technology (GIST)

Contents

1. Introduction
Objective
Background

2. Implementation
Installation
Launch

3. Result and Discussion

Result
Discussion
Objective
Goal
: Simulation of robots in virtual environment.
using
* ROS Kinetic
* Rviz (3D visualization tool)
* Kobuki (mobile robot system for research and education)

Motivation
• There are various available services using robots, especially mobile robots.
• For better performance of robot service, the Reinforcement learning(RL)
can be used to train services.
• Simulation is one of the effective and economic way to be used in RL.
 Backgound
Reinforcement Learning
: A method by which an agent defined within an environment recognizes the
current state and chooses an action or order of action to maximize reward among
the available actions.

[Agent]
[Action at] [Action at+1]

State St State St+1 State St+2

[Environment]

• To demonstrate RL in computer, it is necessary to generate virtual environment represented

by states, actions and rewards.
• In this manual, the simulation of Kobuki robot using rviz can be the environment for RL
 Backgound
Rviz
: A 3D visualization tool for ROS. It can display sensor data and state information
from ROS.

• Kobuki robot will move in the virtual environment of rviz during simulation.
Implementation
Requirements

• ROS kinetic
• Rviz
• kobuki (meta package)
packages for kobuki driving
available online at (http://wiki.ros.org/kobuki) and (https://github.com/yujinrobot/kobuki)

• kobuki_soft (meta package)

packages for simulation of kobuki in Rviz environment
available online at (http://wiki.ros.org/kobuki_soft) and (https://github.com/yujinrobot/kobuki_soft)

This manual is for the user who already install kobuki meta package,
who can make turtlebot with keyboard input (kobuki_keyop).
Installation
kobuki_soft (meta package)

$ sudo apt-get install ros-kinetic1-kobuki-soft

Launch
$ roscore

(new terminal)
$ roslaunch kobuki_softnode full.launch

(new terminal)
$ rosrun rviz rviz
Add – RobotModel & Odometory

(new terminal)
$ roslaunch kobuki_keyop keyop.launch
Moving with keyboard
Result
$ roscore
Result
$ roslaunch kobuki_softnode full.launch
Result
$ rosrun rviz rviz
Result
Add – RobotModel & Odometory
Result
Add – RobotModel & Odometory
Result
$ roslaunch kobuki_keyop keyop.launch
Result
Moving with keyboard
Discussion

• By using simulation, is it possible to proceed RL without

consuming space and cost for real robots.

• In Rviz, it is possible to add more conditions of environment.

• And also other operations are available in rviz, such as navigation.

 Thank you
for your Attention.