Kobuki is Yujin Robot’s low-cost mobile research base — the differential-drive chassis best known as the foundation of TurtleBot 2. A round base carries bump, cliff, and gyro sensors along with a front and rear caster, aimed at teaching navigation and ROS fundamentals on simple, well-documented hardware.
The mechanism
Two continuous wheel joints are the robot’s only real actuated DOF — a straightforward differential-drive base. The front and rear casters are modeled as fixed collision cylinders rather than passive rotating joints, and the gyro and cliff sensors are all fixed reference frames with no motion of their own.
About these files — read before importing
This links directly to kobuki, Yujin Robot’s own repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what Yujin Robot publishes, unmodified.