Roomba ROS2

ROS2 packages for the Roomba-RPi project.

Dependencies

Package Name	Description	URL
ros2_bno055	ROS2 node for the Bosch BNO055 IMU	github.com/process1183/ros2_bno055
create_driver	ROS driver for iRobot Create 1 and 2.	github.com/AutonomyLab/create_robot
libcreate	C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba.	github.com/AutonomyLab/libcreate

Installation

1. Create a ROS2 workspace and clone the required repos:

mkdir -p ~/roomba_ws/src
cd ~/roomba_ws

wget https://raw.githubusercontent.com/process1183/roomba-ros2/main/roomba_ros2.repos

vcs import src < roomba_ros2.repos

2. Source the ROS2 setup file. Adjust as needed to match your ROS2 installation location.

. /opt/ros2_galactic/install/local_setup.bash

3. Install Dependencies:

cd ~/roomba_ws

rosdep install -y -r --from-paths src --ignore-src

4. Build:

colcon build --symlink-install

5. Run:

. ~/roomba_ws/install/local_setup.bash

ros2 launch roomba_bringup roomba.launch.py