completed fork merging of kobuki_ros

Author: KalanaRatnayake

README.md

@@ -1,25 +1,33 @@
-# Kobuki Setup
+# Kobuki ROS2 package
+
+This repository and the [dependencies repository](https://github.com/AIResearchLab/kobuki_dependencies.git) focuses on merging all the public forks available on the original [Kobuki Base](https://github.com/kobuki-base) repositories and extending the work towards an complete ROS2 package for kobuki based turtlebot robots.
+
+## Installation
 
-create detailed guideline based on https://kobuki.readthedocs.io/en/release-1.0.x/software.html
 
 1. Install the following binary dependencies
 
     ```bash
     sudo apt install ros-humble-angles ros-humble-diagnostics ros-humble-joint-state-publisher ros-humble-ros-testing
     ```
 
-2. Clone main repository and dependencies
+2. Optional Dependencies for using Kobuki_keyop [Issue #21](https://github.com/ros2/teleop_twist_keyboard/issues/21)
+    ```bash
+    sudo apt install xterm
+    ```
+
+3. Clone main repository and dependencies
     ```bash
     git clone https://github.com/AIResearchLab/kobuki.git
     git clone https://github.com/AIResearchLab/kobuki_dependencies.git
     ```
 
-3. Build the system with following command. 
+4. Build the system with following command. 
     ```bash
     colcon build
     ```
 
-4. Set udev rule for kobuki using following commands and unplug and replug the usb cable.
+5. Set udev rule for kobuki using following commands and unplug and replug the usb cable.
     ```bash
     wget https://raw.githubusercontent.com/kobuki-base/kobuki_ftdi/devel/60-kobuki.rules
     sudo cp 60-kobuki.rules /etc/udev/rules.d
@@ -28,24 +36,39 @@ create detailed guideline based on https://kobuki.readthedocs.io/en/release-1.0.
     sudo service udev restart
     ```
 
-5. Check connectivity
-    ```bash
-    source ./install/setup.bash
-    kobuki-version-info
-    ```
+## Non-ROS usage
 
-    Ouput should be like,
-    ```bash
-    Version Info:
-    Hardware Version: 1.0.4
-    Firmware Version: 1.2.0
-    Software Version: 1.1.0
-    Unique Device ID: 97713968-842422349-1361404194
-    ```
+### Check connectivity
 
-6. Kobuki Teleop keyboard
+Run following commands in the workspace.
+```bash
+source ./install/setup.bash
+kobuki-version-info
+```
 
-    ```bash
-    source ./install/setup.bash
-    kobuki-simple-keyop
-    ```
+Ouput should be like,
+```bash
+Version Info:
+Hardware Version: 1.0.4
+Firmware Version: 1.2.0
+Software Version: 1.1.0
+Unique Device ID: 97713968-842422349-1361404194
+```
+
+### Kobuki Teleop keyboard
+
+Run following commands in the workspace and follow onscreen instructions
+```bash
+source ./install/setup.bash
+kobuki-simple-keyop
+```
+
+## ROS usage
+
+### KeyOp control
+
+Run following commands in the workspace.
+```bash
+source ./install/setup.bash
+ros2 launch kobuki_keyop kobuki_keyop.launch.py
+```