Contents
The Create platform itself outputs state information from on-board sensors including odometers, bump sensors, cliff sensors, and battery statistics. It can also receive differential drive commands that move the robot. The irobot_create_cu and irobot_create_rustic ROS nodes are responsible for linking the create with the rest of the system. Together, they read state information from the Create and then periodically publish it to the rest of the system. irobot_create_cu receives high-level drive commands and/or paths from the system, check them for validity, and then sends the necessary low-level commands to the robot via irobot_create.
API Documentation
base_planner_cu
irobot_create_rustic is a modified version of Brown's iRobot Create package. We initially had users obtain irobot_create by installing version 104 of the Brown ROS package, but depreciated functionality has made it incompatible with ROS V1.0, and Brown has depreciated their old irobot_create in-favor of a newer and significantly different node. Therefore, we have modified version 104 of Brown's irobot_create to make it compatible with ROS V1.0, and explicitly included the modified version as irobot_create_rustic in prairiedog.Parameters
~serial_port (string, default: /dev/create)- The name of the computer port to which the iRobot create is attached.
