Only released in EOL distros:   indigo jade kinetic lunar

Packages

• ca_description - URDF descriptions and meshes for Create and Roomba models.

• ca_driver - ROS driver iRobot Create and Roomba robots.

• ca_msgs - Common message definitions for interfacing with the driver.

• ca_tools - Collection of tools for working with the robots.

Nodes

ca_driver

Subscribed Topics

• Turn on/off Check Robot LED

• Drives the robots wheels according to forward velocity (m/s) and angular velocity (Rad/s)

• Turn on/off the blue Debris LED

• Activates the demo docking behaviour. Robot enters Passive mode removing control of the user

• Turn on/off the Dock LED

• Set the Power LED color and intensity. Accepts 1 or 2 bytes in the form of an array. The first byte represents the color between green (0) and red (255) and the second (default: 255) represents the intensity

• Set the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right

• Turn on/off the Spot LED

• Switches the robot to Full mode giving control back to the user

Published Topics

• The estimated charge capacity of the robots battery (Ah)

• The estimated charge of the robots battery (Ah)

• The estimated charge divided by the estimated capacity of the robots battery

• The charging state of the battery

• Current flowing through the robots battery (A). Positive current implies charging

• The temperature of the robots battery (degrees Celsius)

• The voltage of the robots battery (V)

• Bumper state, including light sensors

• A message is published to this topic when the Clean button is pressed

• A message is published to this topic when the Day button is pressed

• A message is published to this topic when the Dock button is pressed

• A message is published to this topic when the Hour button is pressed

• The IR character currently being read by the omnidirectional receiver. Vaue of 0 means no character is being received

• The states (position, velocity) of the drive wheel joints

• A message is published to this topic when the Minute button is pressed

• The current mode of the robot (See OI Spec for details)

• Odometry based on wheel encoders

• A message is published to this topic when the Spot button is pressed

• The transform from the odometry frame to the base frame. Only if the parameter publish_tf is set to true

• A message is published to this topic if a wheeldrop is detected

Parameters

• Robot's base frame ID (used in various message headers)

• Serial baud rate

• Serial port for connecting to robot

• Number of seconds without receiving a velocity command before the robot stops moving. Warning: If communication with the base is severed completely, it may latch the last command and can only be stopped by reconnecting and restarting the driver

• Frequency of internal update loop. This affects the rate at which topics are published

• Odometry frame ID (used in odometry message header and TF publisher)

• Turn on/off transform publisher from odometry frame to base frame

• The model of robot being controlled (ROOMBA_400, CREATE_1, or CREATE_2). This determines the communication protocol used to interface with base

Provided tf Transforms

• The current robot position in the odometry frame

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]