README.md

Roomba

Install

Environment

• Ubuntu 16.04 or Ubuntu 18.04
• ROS Kinetic or Melodic

Compiling

sudo apt install ros-$ROS_DISTRO-joy
sudo apt install ros-$ROS_DISTRO-joystick-drivers
cd ~/catkin_ws/src/
git clone https://github.com/amslabtech/Roomba.git
catkin build
source ~/catkin_ws/devel/setup.bash

Running this driver

USB Permissions

Connect computer to 7-pin serial port

sudo chmod a+rw /dev/ttyUSB0

Run

rosrun roomba_500driver_meiji main500

Publishers

Topic	Description	Type
/roomba/states	Robot satatus	roomba_500driver_meiji/Roomba500State
/roomba/odometry	Robot odometry according to wheel encoders	nav_msgs::Odometry

Subscriber

Topic	Description	Type
/roomba/control	Set mode and drives the robot's wheels according to a forward and angular velocity	roomba_500driver_meiji/RoombaCtrl

Control Robot

You can move the robot around by sending roomba_500driver_meiji/RoombaCtrl messages to the topic /roomba/control :

mode                  Set 11
cntl.linear.x  (+)    Move forward
cntl.linear.x  (-)    Move backward
cntl.angular.z (+)    Rotate counter-clockwise
cntl.angular.z (-)    Rotate clockwise

limits

-1.0 <= cntl.linear.x <= 1.0 and -1.0 <= cntl.angular.z <= 1.0

Teleoperation

Connect computer to joystick

rosrun joy joy_node
rosrun roomba_teleop_meiji electric_joystick_drive