create_autonomy
ROS driver for iRobot's Create 1 & 2. This package wraps the C++ library libcreate, which uses iRobot's Open Interface Specification.
- ROS wiki page: http://wiki.ros.org/create_autonomy
- Support: ROS Answers (tag: create_autonomy)
- Author: Jacob Perron (Autonomy Lab, Simon Fraser University)
Supported Robots
| Model | Support |
|---|---|
| Create 1 | Yes |
| Create 2 (firmware >= 3.2.6) | Yes |
| Roomba Original Series | No * |
| Roomba 400 Series | Yes * |
| Roomba 500 Series | Yes * |
| Roomba 600 Series | Yes * |
| Roomba 700 Series | Yes + |
| Roomba 800 Series | Yes + |
| Roomba 900 Series | No * |
+ Verified by third-party.
* Not verified. Anyone who is able to verify that this driver works or not is encouraged to contact Jacob with their findings or open an issue.
Features
| Feature | Status |
|---|---|
| Odometry | Available |
| Safe mode | Planned #13 |
| Clean demo | Planned #14 |
| Dock demo | Available |
| Drive wheels | N/A |
| Drive (v,w) | Available |
| Brush motors | Planned #15 |
| LEDs | Available |
| Digit LEDs | Available |
| Sound | Planned #5 |
| Wheeldrop | Available |
| Bumpers | Available |
| Cliff sensor | Planned #22 |
| Dirt detect | N/A |
| Omni IR sensor | Available |
| Left IR sensor | N/A |
| Right IR sensor | N/A |
| Battery info | Available |
| Light sensors | Available |
| Diagnostics | |
| Corrupt Packets | Planned |
| Phyiscal tests | Planned |
| Overcurrent info | Planned |