irobotcreate2ros

Ros node for iRobot Create 2.

Prerequisites

• ros serial
• ros joy

Compiling

Just clone the repository in the src folder of a catkin workspace. Then run catkin_make.

To generate the model you have to launch in the model folder the dedicated script:

source generate_model.sh

To simulate the robot in Gazebo you first have to add this lines to your bashrc:

source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(rospack find irobotcreate2)
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:$(rospack find irobotcreate2)

Usage

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rosrun irobotcreate2 irobotcreate2

to run the basic software and have access to the following topics:

• /battery
• /bumper
• /buttons
• /cliff
• /cmd_vel
• /digit_leds
• /ir_bumper
• /ir_character
• /leds
• /mode
• /odom
• /play_song
• /rosout
• /rosout_agg
• /song
• /tf
• /wheel_drop

you can read sensors (/battery, /buttons, /bumper, ...) and send commands (/cmd_vel, ...).

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roslaunch irobotcreate2 irobot_joy.launch

to run both the basic software and ros joy to move the robot with a controller.