/roomba_robot

ROS packages to add advanced navigation to my modified roomba. Requires custom hardware to be added for control.

Primary LanguageC++

roomba_robot

ROS packages to add advanced navigation to my modified roomba. Requires custom hardware to be added for control.

Install

Prerequisites

  • Internet connection
  • ROS Kinetic or Melodic
  • Ubuntu packages: python-rosdep, python-catkin-tools
$ sudo apt-get install python-rosdep python-catkin-tools

Compiling

  1. Create a catkin workspace

    $ cd ~
$ mkdir -p roomba_ws/src  
$ cd roomba_ws  
$ catkin init

  2. Clone libcreate into the workspace so it can be referenced

  3. Clone this repo into the workspace

  4. Install dependencies

    $ rosdep update  
$ rosdep install --from-paths src -i

  5. Build

    $ catkin build

I/O Permissions

  1. In order to connect to Create over serial, ensure your user is in the dialout group

    $ sudo usermod -a -G dialout $USER

  2. Logout and login for permission to take effect

Sources

The driver code and install instructions were copied from create_robot and modified. You can reference this repo for usage. I have not contributed to that project.