Contents

  1. The AIS Bonn Roomrider Driver
    1. General Information
    2. Getting started
    3. Messages
      1. Subscribed Topics
      2. Published Topics
      3. Parameters

The AIS Bonn Roomrider Driver

General Information

Roomrider is one of the teaching and research robot platforms at AIS Bonn. It is currently equipped with a S300 Professional laser scanner from SICK(R), a notebook for some computational power, and last but not least a Roomba530 from iRobot(R).

This package contains a driver to control the Roomba and get all sensory information via the Roomba's serial interface.

Designed by M. Schreiber

Getting started

Make sure that all dependencies are satisfied: 

rosmake roomrider_driver

Run the node: 

rosrun roomrider_driver roomrider_driver

Test your iRobot Roomba500 sensors and actuators: 

roslaunch roomrider_driver roomrider_test.launch

Messages

Subscribed Topics

/cmd_vel (geometry_msgs/Twist)
  • Motion commands to roomrider.
/led (roomrider_driver/Led)
  • Control roomrider leds.

Published Topics

/power (roomrider_driver/Power)
  • Information about current and temperature.
/lightsensor (roomrider_driver/Lightsensor)
  • Cliff and light sensors.
/bumper (roomrider_driver/Bumper)
  • Bumper sensors.
/wheeldrop (roomrider_driver/Wheeldrop)
  • Wheeldrop sensors.
/infrared (roomrider_driver/Infrared)
  • Infrared sensor for virtual wall and base.
/odom (nav_msgs/Odometry)
  • Position and velocity of roomrider in free space.

Parameters

~safe_mode (int, default: 1)
  • Roomba safe mode, otherwise full mode.
~debug_mode (int, default: 0)
  • If set to 1, will print debug messages.
~serial_port (string, default: "/dev/roomba")
  • Port connected to roomrider.

Wiki: roomrider_driver (last edited 2010-11-29 17:49:23 by Torsten Fiolka)

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