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create_autonomy: ca_description | ca_driver | ca_msgs | ca_tools

Package Summary

ROS driver for iRobot's Create 1 and 2, based on the libcreate C++ library

create_autonomy: ca_description | ca_driver | ca_msgs | ca_tools

Package Summary

create_autonomy is a ROS driver for iRobot's Create 1 and 2, based on the libcreate C++ library

create_autonomy: ca_description | ca_driver | ca_msgs | ca_tools

Package Summary

ROS driver for iRobot's Create 1 and 2, based on the libcreate C++ library

create_autonomy: ca_description | ca_driver | ca_msgs | ca_tools

Package Summary

ROS driver for iRobot's Create 1 and 2, based on the libcreate C++ library

Packages

Nodes

ca_driver

Communicates and controls a Create or Roomba over serial

Subscribed Topics

check_led (std_msgs/Bool) cmd_vel (geometry_msgs/Twist) debris_led (std_msgs/Bool) dock (std_msgs/Empty) dock_led (std_msgs/Bool) power_led (std_msgs/UInt8MultiArray) set_ascii (std_msgs/UInt8MultiArray) spot_led (std_msgs/Bool) undock (std_msgs/Empty)

Published Topics

battery/capacity (std_msgs/Float32) battery/charge (std_msgs/Float32) battery/charge_ratio (std_msgs/Float32) battery/charging_state (ca_msgs/ChargingState) battery/current (std_msgs/Float32) battery/temperature (std_msgs/Int16) battery/voltage (std_msgs/Float32) bumper (ca_msgs/Bumper) clean_button (std_msgs/Empty) day_button (std_msgs/Empty) dock_button (std_msgs/Empty) hour_button (std_msgs/Empty) ir_omni (std_msgs/UInt16) joint_states (sensor_msgs/JointState) minute_button (std_msgs/Empty) mode (ca_msgs/Mode) odom (nav_msgs/Odometry) spot_button (std_msgs/Empty) /tf (tf2_msgs/TFMessage) wheeldrop (std_msgs/Empty)

Parameters

~base_frame (string, default: base_footprint) ~baud (int, default: Inferred based on robot model) ~dev (string, default: /dev/ttyUSB0) ~latch_cmd_duration (double, default: 0.2) ~loop_hz (double, default: 10.0) ~odom_frame (string, default: odom) ~publish_tf (bool, default: true) ~robot_model (string, default: CREATE_2)

Provided tf Transforms

odombase_footprint

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]


2018-12-08 12:40