irobotcreate2ros
Ros node for iRobot Create 2.
Prerequisites
Compiling
Just clone the repository in the src folder of a catkin workspace. Then run catkin_make.
To generate the model you have to launch in the model folder the dedicated script:
source generate_model.sh
To simulate the robot in Gazebo you first have to add this lines to your bashrc:
source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(rospack find irobotcreate2)
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:$(rospack find irobotcreate2)
Usage
rosrun irobotcreate2 irobotcreate2
to run the basic software and have access to the following topics:
- /battery
- /bumper
- /buttons
- /cliff
- /cmd_vel
- /digit_leds
- /ir_bumper
- /ir_character
- /leds
- /mode
- /odom
- /play_song
- /rosout
- /rosout_agg
- /song
- /tf
- /wheel_drop
you can read sensors (/battery, /buttons, /bumper, ...) and send commands (/cmd_vel, ...).
roslaunch irobotcreate2 irobot_joy.launch
to run both the basic software and ros joy to move the robot with a controller.