irobot_create

Package to connect iRobot Create 1 with ROS. Control the robot, publish the odometry and sensors feedback. Modification http://wiki.ros.org/irobot_create_2_1 to ROS indigo

Install

• Clone the package folder

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/LCAD-UFES/p3dx_navigation.git
    $ cd ..
    $ catkin_make
  

Run with Joystick

1. Connect the Create robot in USB port and joystick

2. Open 4 terminal

    $ sudo chmod 777 /dev/ttyUSB0
    $ sudo chmod 777 /dev/input/js0		
    $ roscore
    $ rosrun irobot_create driver.py
    $ rosrun joy joy_node
    $ rosrun irobot_create irobotJoyTeleop.py
   

If a problem occurs, check the ports