Yujin Robot iCLEBO Kobuki, Руководство пользователя, Страница: 22 / 24

Firmware
Communication
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Baud rate: 115200 BPS, Data bit: 8 bit, Stop bit: 1 bit, No Parity
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Electronic protocol: USB / RS232 (@ DB25 connector)
Protocol Specification
The driver communicates with the robot by using predefined protocol. In general, the driver sends the
commands to the robot and the robot sends some feedback data or sensor readings. This command
and feedback data are converted into bytestreams for communication via serial interface. The protocol
specify that rules and forms of bytestream.
For more detailed information, visit:
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http://yujinrobot.github.com/kobuki/enAppendixProtocolSpecification.html
Version Checking
Every time the robot comes alive (because it is connected or powered on), the driver checks the
compatibility between software (i.e. driver) and firmware. Firmware versions are of the form M.m.p,
where:
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M(ajor) represents a deep rebuild of the code that almost surely breaks protocol compatibility.
In consequence, if mayor version doesn’t match, the driver will show an error, suggest the
required update and shutdown.
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m(inor) represents a new feature that could not work if the driver is outdated, but the protocol
itself is spared. In consequence, if minor version doesn’t match, the driver will show a warning
suggesting the required update and continue working.
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p(atch) represents a fix on the code and is not checked at all.
You can check which firmware version your robot is running on the log (check the first lines on stdout
at driver startup), by running the version_info program included on the kobuki driver, or if you are
using ROS, just echoing
​ /mobile_base/version_info ​ topic. Generally speaking, it’s recommended to
upgrade the firmware to the latest stable version.
Special Firmware Modes
Activating
Kobuki has some special firmware modes, which can be activated on startup.
Currently implemented are:
I.
Random walker mode
II.
Arduino/Embedded board support mode
To activate one of them, follow these instructions:
1.
Turn on Kobuki.
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