This is a ported version of the Khepera III Toolbox, developed over the years by multiple contributors (listed below). It has been adapted to work with the Khepera IV mobile robot from K-Team:
https://www.k-team.com/mobile-robotics-products/khepera-iv
More information about this toolbox and the Khepera IV can be found in our publication:
https://infoscience.epfl.ch/record/211875/files/k4_paper.pdf
This README file contains only a few pointers and quick start information. The documentation of the Khepera III toolbox is available online as wikibook, and should mostly apply to the current library:
http://en.wikibooks.org/wiki/Khepera_III_Toolbox
The documentation also includes installation guidelines, a short introduction for new users and a lot of examples.
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Set your environment variables: export K4_ROOT=/path/to/the/khepera4toolbox export PATH=$PATH:$K4_ROOT/Scripts
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Install the light toolchain from K-Team.
For the original Gumstix, you'll find it at
The manual with the straightforward installation instructions (5.2.1) is available at:
http://ftp.k-team.com/KheperaIV/software/Gumstix%20COM/UserManual/Khepera%20IV%20User%20Manual.pdf
Note: The library hasn't been tested with more recent K4 versions carrying other Gumstix devices. You may, nevertheless, try adapting the toolchain in the Makefile.include.
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Configure your network parameters in both Setup/setup_kh4.py and Scripts/k4_commons
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Connect each robot using the USB cable and run the setup script (Setup/setup_kh4.py)
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Compile the modules and programs
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Try uploading a single program (e.g. k4put + battery)
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Enjoy working with the Khepera IV robot!
Khepera III Toolbox developed by
- Thomas Lochmatter (Main developer)
- Iñaki Navarro
- Jim Pugh
- Gilles Caprari (K-Team)
- Frederic Lambercy (K-Team)
- Sven Gowal
- Michael Karlen
- Bob Andries
- Guillermo Fernandez Rodriguez
- Pierre-François Laquerre
- Jorge Soares
Khepera IV Toolbox ported by
- Jorge Soares