iRobot Create 2....

[Richard Ryerson]

Just in case anyone is still following this group... iRobot has now introduced the Create 2.... Check it out on iRobots web site....

[Charlie Hanacek]

Looks like iRobot rehashed the old Create with the new Roomba features. The green color is pretty cool. Also it seems cheaper, but maybe I bough the $300 kit when I got mine. Newbie support seems to be improved - iRobot offers sample projects and some 3D printable files. 

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Charlie

On Dec 16, 2014, at 3:20 PM, Richard Ryerson <robot...@gmail.com> wrote:

Just in case anyone is still following this group... iRobot has now introduced the Create 2.... Check it out on iRobots web site....

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[Jim Wesley]

I've been poking around but haven't been able to find out if anyone is using ROS with the new create 2 or if it's even compatible. Any idea?

Thanks

[Quantao Yang]

Hi,
try this repository, https://github.com/jetsonhacks/turtlebot_create

Best,
Quantao

[Quantao Yang]

Hi,
try this repository, https://github.com/jetsonhacks/turtlebot_create

Best,
Quantao

On Saturday, February 28, 2015 at 9:13:36 PM UTC+8, Jim Wesley wrote:

[Luke Keyes]

It uses the same serial interface as the old Create/Roomba, so should be compatible.  I haven't used ROS, but I did drive around a 500 series using RoombaComm.  The Create 2 is based off the 500 and up series, while the Create was based off the 400 series.

[Sonic fu]

I'm using iRobot Create 2 to build my own turtlebot. I'm still following ROS by Example_Hydro_vol1 to do the experienments. But mine is lacking of a gyro sensor.

[Sonic fu]

Problem/Solution: Using Create2(Roomba 620) as your turtlebot driving base.

Problem：
I met the incompatibility problem when I was trying to build and test my own_turtlebot which is using iRobot Create 2. When I use the file "turtlebot_minimal_create.launch" offered by rbx('ROS by Example_Hydro_vol1') book. When I was doing the linear and angular calibration as the book described, I meet unexpectable driving actions made by my create2.

As the writor of rbx_hydro_vol1 book was using original Turtlebot which is using iRobot Create as the driving base, however, iRobot Create is out of sale and has been replaced by iRobot_Create_2 as I know.

iRobot co. seems not to offer iRobot_Create, so We can only buy iRobot_Create_2 to build our non-original-turtlebot. Thus, we can not use the launch file offered by rbx book directly.

[Solution]
Looking into the file "turtlebot_minimal_create.launch", we can find it refered a file "tb_create_mobile_base.launch.xml". This file defined parameters about driving our base.

Add or modify the parameter definition lines as below:

   <param name="has_gyro" value="false" />  <!--Create2 has no gyro sensor-->
   <param name="turtlebot_node/odom_angular_scale_correction" value="1.0"/>
   <param name="turtlebot_node/odom_linear_scale_correction" value="1.0"/>
   <param name="robot_type" value="roomba"/> <!--"create", or "roomba" for Create2-->

Here, param "robot_type" will make the file "robot_types.py" know which name,baudrate,sensor_handler,wheel_separation to choose. You can ran command below to find out the file"robot_types.py" in you Ubuntu+ROS system:
   $ cd / && sudo find -name "robot_types.py"

So, on my understanding of the rbx book, the driving base (Create2) will only use ros topic /odom as the driving/navigation information. If you added gyro_sensor(like ADXR652) into this driving system(based on Create2), please share your solutions/steps with us. I think the writer and me will appreciate that!

[Contact]
If you meet any new thoughts/ideas/solutions/problems about this topic, welcome to join here and discuss about it. Thanks!!
================


On Friday, December 4, 2015 at 7:10:24 AM UTC+8, Pi Robot wrote:

Hello,

To add a gyro, you might try posting your question on the iRobot Create Google Group.  Then to look for ROS support, check out this thread on ROS Answers.

However, before you do any of that, make sure you run the calibration routines as described in Chapter 7.4 of ROS By Example.

--patrick

sonic fu wrote:

Hi,I'm trying to implement my own turtlebot with iRobot Create 2(roomba 600).

Unfortunately, It seems that iRobot Create 2 has not the DB25(25pin) analog port of the iRobot Create base. (ref:http://answers.ros.org/question/9749/is-an-imu-required-to-run-turtlebot-stack/#1243）

Is there any simple/convenient way that can add an extra gyro sensor for iRobot Create 2? So the script "turtlebot_minimal_create.launch" in 'ROS by Example' can be launch smoothly. or "turtlebot_bringup/launch/minimal.launch" in 'ROS repository' can be launch smoothly.

I hope to run the script below(from book 'rbx_hydro_vol1') to implement the SLAM with map creating simultaneously.

 $ roslaunch rbx1_bringup turtlebot_minimal_create.launch
 $ roslaunch rbx1_bringup fake_laser.launch  #i'm using xtion_pro
 $ rqt_console &
 $ roslaunch rbx1_nav tb_nav_test.launch map:=my_map.yaml
 $ rosrun rviz rviz -d `rospack find rbx1_nav`/nav_test.rviz

My quetion is:

• Is there any simple/convenient way that can add an extra gyro sensor for iRobot Create 2?

• Can I still launch the commands above without a gyro sensor?

Thank you very much!!

when I ran "$ rosrun rbx1_nav timed_out_and_back.py", my roomba_turtle goes the path as image below:

Thank you!!

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On Wednesday, December 17, 2014 at 7:20:22 AM UTC+8, Richard Ryerson wrote:

[Thierry Chantier]

Still not available in Europe.
so sad, it looks great to start a good mobile robot base.

[Sonic FU]

iRobot Create2 is actually iRobot_ROOMBA_620. Not good.

On Wednesday, December 17, 2014 at 7:20:22 AM UTC+8, Richard Ryerson wrote: