iRobotCreate1和2的ROS驱动程序。_C++_CMake_下载

# create_robot [ROS](http://ros.org) driver for iRobot [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx). This package wraps the C++ library [libcreate][libcreate], which uses iRobot's [Open Interface Specification][oi_spec]. <!--[](* Documentation: TODO)--> * ROS wiki page: http://wiki.ros.org/create_robot * Support: [ROS Answers (tag: create_robot)](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:create_robot/page:1/) * Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca)) ## Build Status - ROS Kinetic  - ROS Melodic  - ROS Foxy  ## Supported Robots | Model | Support | |-----------|------------| | Create 1 | Yes | | Create 2 _(firmware >= 3.2.6)_ | Yes | | Roomba Original Series | No | | Roomba 400 Series | Yes | | Roomba 500 Series | Yes * | | Roomba 600 Series | Yes * | | Roomba 700 Series | Yes + | | Roomba 800 Series | Yes + | | Roomba 900 Series | No * | _+ Verified by third-party. Please note [Odometry Issue #28](https://github.com//create_autonomy/issues/32)_ _* Not verified. Anyone who is able to verify that this driver works or not is encouraged to contact [Jacob](https://jacobperron.ca) with their findings or open an issue._ ## Features | Feature | Status | |-------------------|---------------| | Odometry | Available | | Safe mode | Planned [#13](https://github.com/AutonomyLab/create_autonomy/issues/13) | | Clean demo | Planned [#14](https://github.com/AutonomyLab/create_autonomy/issues/14) | | Dock demo | Available | | Drive wheels | N/A | | Drive (v,w) | Available | | Brush motors | Available | | LEDs | Available | | Digit LEDs | Available | | Sound | Available | | Wheeldrop | Available | | Bumpers | Available | | Cliff sensor | Planned [#22](https://github.com/AutonomyLab/create_autonomy/issues/22) | | Dirt detect | N/A | | Omni IR sensor | Available | | Left IR sensor | N/A | | Right IR sensor | N/A | | Battery info | Available | | Light sensors | Available | | **_Diagnostics_** | | | Corrupt packets | Planned | | Physical tests | Planned | | Overcurrent info | Planned | ## Install #### Prerequisites * Internet connection * [ROS](http://wiki.ros.org/ROS/Installation) _Indigo_ or _Jade_ * Ubuntu packages: `python-rosdep`, `python-catkin-tools` ``` bash $ sudo apt-get install python-rosdep python-catkin-tools ``` #### Compiling 1. Create a catkin workspace ``` bash $ cd ~ $ mkdir -p create_ws/src $ cd create_ws $ catkin init ``` 2. Clone this repo ``` bash $ cd ~/create_ws/src $ git clone https://github.com/autonomylab/create_robot.git ``` 3. Install dependencies ``` bash $ cd ~/create_ws $ rosdep update $ rosdep install --from-paths src -i ``` 4. Build ``` bash $ cd ~/create_ws $ catkin build ``` #### USB Permissions 5. In order to connect to Create over USB, ensure your user is in the dialout group ``` bash $ sudo usermod -a -G dialout $USER ``` 6. Logout and login for permission to take effect ## Running the driver ### Setup 1. After compiling from source, don't forget to source your workspace: ``` bash $ source ~/create_ws/devel/setup.bash ``` 2. Connect computer to Create's 7-pin serial port - If using Create 1, ensure that nothing is connected to Create's DB-25 port 3. Launch one of the existing launch files or adapt them to create your own. ### Launch files For Create 2 (Roomba 600/700 series): ``` bash $ roslaunch create_bringup create_2.launch ``` For Create 1 (Roomba 500 series): ``` bash $ roslaunch create_bringup create_1.launch ``` For Roomba 400 series: ``` bash $ roslaunch create_bringup roomba_400.launch ``` #### Launch file arguments * **config** - Absolute path to a configuration file (YAML). Default: `create_bringup/config/default.yaml` * **desc** - Enable robot description (URDF/mesh). Default: `true` For example, if you would like to disable the robot description and provide a custom configuration file: ```bash $ roslaunch create_bringup create_2.launch config:=/abs/path/to/config.yaml desc:=false ``` ### Parameters Name | Description | Default --------------|--------------|---------- `dev` | Device path of robot | `/dev/ttyUSB0` `base_frame` | The robot's base frame ID | `base_footprint` `odom_frame` | The robot's odometry frame ID | `odom` `latch_cmd_duration` | If this many seconds passes without receiving a velocity command the robot stops | `0.2` `loop_hz` | Frequency of internal update loop | `10.0` `publish_tf` | Publish the transform from `odom_frame` to `base_frame` | `true` `robot_model` | The type of robot being controlled (supported values: `ROOMBA_400`, `CREATE_1` and `CREATE_2`) | `CREATE_2` `baud` | Serial baud rate | Inferred based on robot model, but is overwritten upon providing a value ### Publishers Topic | Description | Type -------------|--------------|------ `battery/capacity` | The estimated charge capacity of the robot's battery (Ah) | [std_msgs/Float32][float32] `battery/charge` | The current charge of the robot's battery (Ah) | [std_msgs/Float32][float32] `battery/charge_ratio` | Charge / capacity | [std_msgs/Float32][float32] `battery/charging_state` | The chargins state of the battery | [create_msgs/ChargingState][chargingstate_msg] `battery/current` | Current flowing through the robot's battery (A). Positive current implies charging | [std_msgs/Float32][float32] `battery/temperature` | The temperature of the robot's battery (degrees Celsius) | [std_msgs/Int16][int16] `battery/voltage` | Voltage of the robot's battery (V) | [std_msgs/Float32][float32] `bumper` | Bumper state message (including light sensors on bumpers) | [create_msgs/Bumper][bumper_msg] `clean_button` | 'clean' button is pressed ('play' button for Create 1) | [std_msgs/Empty][empty] `day_button` | 'day' button is pressed | [std_msgs/Empty][empty] `hour_button` | 'hour' button is pressed | [std_msgs/Empty][empty] `minute_button` | 'minute' button is pressed | [std_msgs/Empty][empty] `dock_button` | 'dock' button is pressed ('advance' button for Create 1) | [std_msgs/Empty][empty] `spot_button` | 'spot' button is pressed | [std_msgs/Empty][empty] `ir_omni` | The IR character currently being read by the omnidirectional receiver. Value 0 means no character is being received | [std_msgs/UInt16][uint16] `joint_states` | The states (position, velocity) of the drive wheel joints | [sensor_msgs/JointState][jointstate_msg] `mode` | The current mode of the robot (See [OI Spec][oi_spec] for details)| [create_msgs/Mode][mode_msg] `odom` | Robot odometry according to wheel encoders | [nav_msgs/Odometry][odometry] `wheeldrop` | At least one of the drive wheels has dropped | [std_msgs/Empty][empty] `/tf` | The transform from the `odom` frame to `base_footprint`. Only if the parameter `publish_tf` is `true` | [tf2_msgs/TFMessage](http://docs.ros.org/jade/api/tf2_msgs/html/msg/TFMessage.html) ### Subscribers Topic | Description | Type ------------|---------------|------ `cmd_vel` | Drives the robot's wheels according to a forward and angular velocity | [geometry_msgs/Twist][twist] `debris_led` | Enable / disable the blue 'debris' LED | [std_msgs/Bool][bool] `spot