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Only released in EOL distros:   indigo jade kinetic lunar

Packages

• ca_description - URDF descriptions and meshes for Create and Roomba models.

• ca_driver - ROS driver iRobot Create and Roomba robots.

• ca_msgs - Common message definitions for interfacing with the driver.

• ca_tools - Collection of tools for working with the robots.

Nodes

ca_driver

Communicates and controls a Create or Roomba over serial

Subscribed Topics

check_led (std_msgs/Bool)

• Turn on/off Check Robot LED

cmd_vel (geometry_msgs/Twist)

• Drives the robots wheels according to forward velocity (m/s) and angular velocity (Rad/s)

debris_led (std_msgs/Bool)

• Turn on/off the blue Debris LED

dock (std_msgs/Empty)

• Activates the demo docking behaviour. Robot enters Passive mode removing control of the user

dock_led (std_msgs/Bool)

• Turn on/off the Dock LED

power_led (std_msgs/UInt8MultiArray)

• Set the Power LED color and intensity. Accepts 1 or 2 bytes in the form of an array. The first byte represents the color between green (0) and red (255) and the second (default: 255) represents the intensity

set_ascii (std_msgs/UInt8MultiArray)

• Set the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right

spot_led (std_msgs/Bool)

• Turn on/off the Spot LED

undock (std_msgs/Empty)

• Switches the robot to Full mode giving control back to the user

Published Topics

battery/capacity (std_msgs/Float32)

• The estimated charge capacity of the robots battery (Ah)

battery/charge (std_msgs/Float32)

• The estimated charge of the robots battery (Ah)

battery/charge_ratio (std_msgs/Float32)

• The estimated charge divided by the estimated capacity of the robots battery

battery/charging_state (ca_msgs/ChargingState)

• The charging state of the battery

battery/current (std_msgs/Float32)

• Current flowing through the robots battery (A). Positive current implies charging

battery/temperature (std_msgs/Int16)

• The temperature of the robots battery (degrees Celsius)

battery/voltage (std_msgs/Float32)

• The voltage of the robots battery (V)

bumper (ca_msgs/Bumper)

• Bumper state, including light sensors

clean_button (std_msgs/Empty)

• A message is published to this topic when the Clean button is pressed

day_button (std_msgs/Empty)

• A message is published to this topic when the Day button is pressed

dock_button (std_msgs/Empty)

• A message is published to this topic when the Dock button is pressed

hour_button (std_msgs/Empty)

• A message is published to this topic when the Hour button is pressed

ir_omni (std_msgs/UInt16)

• The IR character currently being read by the omnidirectional receiver. Vaue of 0 means no character is being received

joint_states (sensor_msgs/JointState)

• The states (position, velocity) of the drive wheel joints

minute_button (std_msgs/Empty)

• A message is published to this topic when the Minute button is pressed

mode (ca_msgs/Mode)

• The current mode of the robot (See OI Spec for details)

odom (nav_msgs/Odometry)

• Odometry based on wheel encoders

spot_button (std_msgs/Empty)

• A message is published to this topic when the Spot button is pressed

/tf (tf2_msgs/TFMessage)

• The transform from the odometry frame to the base frame. Only if the parameter publish_tf is set to true

wheeldrop (std_msgs/Empty)

• A message is published to this topic if a wheeldrop is detected

Parameters

~base_frame (string, default: base_footprint)

• Robot's base frame ID (used in various message headers)

~baud (int, default: Inferred based on robot model)

• Serial baud rate

~dev (string, default: /dev/ttyUSB0)

• Serial port for connecting to robot

~latch_cmd_duration (double, default: 0.2)

• Number of seconds without receiving a velocity command before the robot stops moving. Warning: If communication with the base is severed completely, it may latch the last command and can only be stopped by reconnecting and restarting the driver

~loop_hz (double, default: 10.0)

• Frequency of internal update loop. This affects the rate at which topics are published

~odom_frame (string, default: odom)

• Odometry frame ID (used in odometry message header and TF publisher)

~publish_tf (bool, default: true)

• Turn on/off transform publisher from odometry frame to base frame

~robot_model (string, default: CREATE_2)

• The model of robot being controlled (ROOMBA_400, CREATE_1, or CREATE_2). This determines the communication protocol used to interface with base

Provided tf Transforms

odom → base_footprint

• The current robot position in the odometry frame

Report a Bug

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