How to use kobuki with ROS2(foxy)?

[mat-macnica]

Hello,

I need to control "kobuki" by "/cmd_vel" with ROS2(humble ) on Nvidia-JetsonNX.
But I think that "humble is not supported" from below link;
#43

So, at first, I try to control "kobuki" by "/cmd_vel" with ROS2(foxy) on Nvidia-JetsonNX.
But I found Error like below;

I'd like to also share the detail command like below;

git clone https://github.com/kobuki-base/kobuki_ros
git clone https://github.com/yujinrobot/kobuki_core
git clone https://github.com/kobuki-base/kobuki_ros_interfaces
colcon build

Question:
Are there anyone to succeed to run "kobuki(turtlebot2)" with ROS2(foxy)?

We would appreciate if you tell us the successful way to use "kobuki(turtlebot2)" with ROS2(foxy).

--
Best regards,

[AnOrdinaryUsser]

Good,

I don't know if you are still with the project, but to use this repository, at least in my case, you just have to install the packages using apt install. I had to remove the kobuki_auto_docking folder, so that it compiled with colcon.

To use the platform I used the following command:
kobuki-simple-keyop

Don't forget to source the repository you have installed:
source ~/<workspace>/install/setup.bash

By the way, I don't know about you but as the tutorials use colcon build --symlink-install I use this one instead of just colcon build.

I have managed to get it to move, but I would like to know how I can get it to correctly publish the odometry information and all the necessary information to do a simple mapping with ROS2 together with a lidar A1. However, I can't find much information about all this and I think the kobuki platform is on its last legs.

I have tried to use the ROS2 repository (https://github.com/ros2/turtlebot2_demo) Turtlebot2_demo where they offer packages for Turtlebot2 which is basically the Kobuki platform but with the Astra camera.

With this repo I managed to teleoperate the platform in ROS 2 Bouncy and make it follow an object with the camera. However, as with this repo I have not been able to get the mapping to work.

I hope all this info helps you, if you need anything you can talk to me without problem.