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Fig. 1: Kobuki hardware (Flores-Vazquez et al., 2022)

The Kobuki platform is a popular choice for mobile robotics projects. It provides a basic set of sensors and a range of interface options. However, it needs to be paired with an appropriate processing unit to be able to perform any complex tasks. These notes cover the use of a Raspberry Pi and the ROS 2 robot operating system.

The setup notes on these pages describe the configuration of two ROS nodes as shown in Fig. 2.

Kobuki nodes

Fig. 2: Kobuki nodes