= RoombaRobin =
{{attachment:segway3.JPG|RoombaRobin|align="right",height="226",width="147"}}  !RoombaRobin is a clone of the well known TurtleBot with some minor differences. The used stack differs a little bit from the !TurtleBot. Instead of the iRobot Create an iRobot Roomba is used. Also the Microsoft Kinect is at a slightly different position. The ROS interface of !RoombaRobin is similar to the interface of !TurtleBot. This allows to use all of the demos available for !TurtleBot and compatible robots (WheeledRobin) and vice versa.

<<TOC(3)>>

== Installation (wstool from source) ==
By checking out from our repositories, you can always stay up to date with the latest version. Use the following commands to check out the !RoombaRobin stack:

 1. Install ROS software (ROS Hydro with Ubuntu 12.04 LTS recommended) at http://www.ros.org/wiki/ROS/Installation, please select Ubuntu platform.

 1. Use ros-hydro-desktop-full packages at the installation page (recommended)

 1. Install turtlebot stack
 {{{
sudo apt-get install ros-hydro-turtlebot
}}}
 1. Create a catkin workspace (see [[ROS/Tutorials/catkin/CreateWorkspace|Catkin Tutorial]])
 1. Install wstool (if not already installed) (see [[wstool|wstool Tutorial]])

 1. Switch to catkin workspace into src folder
 {{{
cd ~/catkin_ws/src
}}}
 1. Add !RoombaRobin repositories
 {{{
wstool init
wstool set roomba_robin --git https://github.com/robinJKU/roomba_robin.git
wstool set roomba_robin_viz --git https://github.com/robinJKU/roomba_robin_viz.git
wstool set roomba_robin_simulator --git https://github.com/robinJKU/roomba_robin_simulator.git
wstool update
}}}

 1. Build catkin workspace (see [[ROS/Tutorials/catkin/CreateWorkspace|Catkin Tutorial]])
 {{{
cd ..
catkin_make
}}}

== Getting Started ==
=== Bringup the real robot ===
To start the !RoombaRobin robot power on the robot and type:

{{{
roslaunch roomba_robin_bringup minimal.launch
}}}
Proceed with starting nodes that supply  velocity commands like teleoperation nodes.

=== Bringup a simulated robot ===
To start a simulated !RoombaRobin robot using gazebo type:

{{{
roslaunch roomba_robin_gazebo roomba_robin_empty_world.launch
}}}
Proceed with starting nodes that supply  velocity commands like teleoperation nodes.

=== Starting Demos ===
To start various demos please refere to the TurtleBot tutorials:

 * [[http://wiki.ros.org/Robots/TurtleBot?action=show&redirect=TurtleBot#turtlebot.2BAC8-Tutorials.2BAC8-hydro.Teleoperation|Teleoperation]]
 * [[http://wiki.ros.org/Robots/TurtleBot?action=show&redirect=TurtleBot#turtlebot.2BAC8-Tutorials.2BAC8-hydro.Advanced_Usage|Advanced Usage]]
 * [[http://wiki.ros.org/Robots/TurtleBot?action=show&redirect=TurtleBot#turtlebot.2BAC8-Tutorials.2BAC8-hydro.App_Platform|App Platform]]

== Stack Overview ==
There are multiple stacks specific to the !RoombaRobin:
||'''Stack''' ||'''Description''' ||'''ROS packages''' ||
||[[roomba_robin]] ||Contains the core drivers for !RoombaRobin ||[[roomba_robin_bringup]], [[roomba_robin_description]] ||
||[[roomba_robin_simulator]] ||Contains packages for simulating !RoombaRobin || ||
||[[roomba_robin_simulator|roomba_robin_viz]] ||Contains packages for vizualizing !RoombaRobin ||[[roomba_robin_rviz_launchers]] ||