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How to add extra gyro sensor for roomba[Solved]

asked 2015-12-02 02:58:15 -0500

sonictl gravatar image

updated 2016-06-19 20:39:04 -0500

How to add extra gyro sensor for roomba

Hi,I'm trying to implement my own turtlebot with iRobot Create 2(roomba 600).

Unfortunately, It seems that iRobot Create 2 has not the DB25(25pin) analog port of the iRobot Create base. (ref:

Is there any simple/convenient way that can add an extra gyro sensor for iRobot Create 2? So the script "turtlebot_minimal_create.launch" in 'ROS by Example' can be launch smoothly. or "turtlebot_bringup/launch/minimal.launch" in 'ROS repository' can be launch smoothly.

I hope to run the script below(from rbx_hydro_vol1) to implement the SLAM with map creating simultaneously.

 $ roslaunch rbx1_bringup turtlebot_minimal_create.launch
 $ roslaunch rbx1_bringup fake_laser.launch  #i'm using xtion_pro
 $ rqt_console &
 $ roslaunch rbx1_nav tb_nav_test.launch map:=my_map.yaml
 $ rosrun rviz rviz -d `rospack find rbx1_nav`/nav_test.rviz

My quetion is:

  • Is there any simple/convenient way that can add an extra gyro sensor for iRobot Create 2?

  • Can I still launch the commands above without a gyro sensor?

Thank you very much!!

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I am in the process of trying to add an IMU to Create 2 as well. My current solution is to download the ROS Sensors app ( ) for Android and attach my phone to the robot. Wondering if you came across a solution for yourself?

jacobperron gravatar image jacobperron  ( 2016-04-15 14:27:28 -0500 )edit

@jacobperron , Thank you for your comment! I'v tried using an USB-ported IMU sensor module. I plugged it in my turtlebot's controller( the ubuntu notebook ) and using the usb-serial driver(e.g. r2serial_driver) to publish the data to ROS. We got the data but halted by other bussiness.

sonictl gravatar image sonictl  ( 2016-05-19 00:33:49 -0500 )edit

Hi @sonictl, can you elaborate on whether or not using the USB-ported IMU was a success? When you published the data from USB-IMU to ROS, did you encounter any problems? Were you able to use that IMU data to improve the odom estimate in the end?

eugene_ang gravatar image eugene_ang  ( 2016-05-26 21:47:01 -0500 )edit

@jacobperron, when working on android_sensors_driver, did it publish to sensor_msgs/Imu, as described in the wiki page? I am asking because according to this, it only publishes to android/fix and I'm confused.

eugene_ang gravatar image eugene_ang  ( 2016-05-26 21:52:42 -0500 )edit

@eugene_ang I just got data from IMU to ROS, I published the IMU data as a ROS topic. never used the data cuz I found the odom data was enough then.

sonictl gravatar image sonictl  ( 2016-05-26 23:14:34 -0500 )edit

@eugene_ang As long as your Android device supports the appropriate sensors then you should get the sensor_msgs/Imu too. For example, on one device I did not receive a magnetometer message, but it was present on a second device. I think that tutorial is out of date.

jacobperron gravatar image jacobperron  ( 2016-05-27 20:57:57 -0500 )edit

@jacobperron, @sonictl: Thanks for your inputs! In the end, I went the Android way and got my phone to publish imu messages.

eugene_ang gravatar image eugene_ang  ( 2016-05-31 17:31:08 -0500 )edit

@jacobperron: after you deployed your Android imu publisher, did you go on and calibrate the turtlebot like in this tutorial? Did it help in any way?

eugene_ang gravatar image eugene_ang  ( 2016-05-31 17:33:05 -0500 )edit

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answered 2016-06-17 04:46:28 -0500

sonictl gravatar image

updated 2016-06-17 04:47:43 -0500

This blog (Link) shows me the solution for this issue.

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Asked: 2015-12-02 02:58:15 -0500

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Last updated: Jun 19 '16