The kobuki driver is a simple c++ library that allows interfacing to the kobuki mobile research base. Before
This documentation is targeted for users creating a custom robot on top of kobuki using either posix/win32 or an apple operating system. If that is you, you are in the right place - proceed to the guides below. If you're interested in developing a driver for a custom unsupported platform (e.g. vxworks) then you'll want to check the serial protocol reference in the appendix.
Alternatively, if you're using a kobuki reference platform, check one of the links below.
Firstly, note that the library isn't designed to run your control loop. Robots are quite varied - everything from something really simple running on very minimal embedded resources to a fully fledged system. There is also a wide variety of architectures that a driver must neatly integrate with, so we have left the decision on how to design and integrate the driver up to the user. To that end, the driver is simply a library of classes, simple functions and callback oriented sigslots.
We have a simple implementation in the guides below and a more detailed implementation can be found for the kobuki_node that runs within the ros framework.