symmetryninja / create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot

create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot.

Dependencies

• ROS 2 Galactic

Package Dependencies (ubuntu)

The example code requires a number of packages including joystick and keyboard teleop, colcon and lidar packages:

sudo apt install joystick ros-galactic-teleop-twist-joy ros-galactic-slam-toolbox \
    ros-galactic-teleop-twist-keyboard ros-galactic-rplidar-ros \
    ros-galactic-irobot-create-msgs python3-colcon-common-extensions

Build instructions

First, source your ROS 2 workspaces with all the required dependencies. Then, you are ready to clone and build this repository. You should only have to do this once per install.

mkdir -p create3_examples_ws/src
cd create3_examples_ws/src
git clone https://github.com/iRobotEducation/create3_examples.git
cd ..
rosdep install --from-path src --ignore-src -yi
colcon build

Initialization instructions

You will have to do this in every new session in which you wish to use these examples:

source ~/create3_examples_ws/install/local_setup.sh

Run the examples

Refer to the individual examples README.md for instructions on how to run them.

Potential pitfalls

If you are unable to automatically install dependencies with rosdep (perhaps due to this issue), please do be sure to manually install the dependencies for your particular example of interest, contained in its package.xml file.