Using Create2(Roomba 620) as your turtlebot driving base.
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Problem/Solution: Using Create2(Roomba 620) as your turtlebot driving base.
使用 iRobot Create 2 作为 Turtlebot 的驱动底盘 see this blog:ROS 进阶学习笔记(14) - About driving your iRobot Roomba/Create
[Problem]:
I met the incompatibility problem when I was trying to build and test my own_turtlebot which is using iRobot Create 2(Roomba 620). When I use the file "turtlebot_minimal_create.
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original Turtlebot which is using iRobot Create as the driving base, however, iRobot Create is out of sale and has been replaced by iRobot_Create_2 as I know.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.Add or modify the parameter definition lines as below:
<paramname="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-->
<param name="turtlebot_node/odom_
<param name="turtlebot_node/odom_
<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,
$ cd / && sudo find -name "robot_types.py"
So, on my understanding of the rbx book, the driving base (Create2) will only use ros topic /odomas 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/ 0 1
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