libcreate

C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba. create_autonomy is a ROS wrapper for this library.

• Documentation: TODO
• Code API: TODO
• Protocol documentation:
  • V_1 (Roomba 400 series )
  • V_2 (Create 1, Roomba 500 series)
  • V_3 (Create 2, Roomba 600-800 series)
• Author: Jacob Perron (Autonomy Lab, Simon Fraser University)
• Contributors: Mani Monajjemi, Ben Wolsieffer

Dependencies

• Boost System Library
• Boost Thread Library

Install

• cmake CMakeLists.txt
• make
• sudo make install

Example

See source for examples.

Example compile line: g++ create_demo.cpp -lcreate -lboost_system -lboost_thread

Known issues

• Clock and Schedule buttons are not functional. This is a known bug related to the firmware.
• Inaccurate odometry angle for Create 1 (#22)

Build Status