How can I use the teleoperation with iRobot Roomba 645 and ROS Indigo?
Hi!!!
I'm new in ROS and I want to build a TurtleBot using iRobot 645 and Kinect with ROS Indigo. I've followed the tutorial http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup to do the teleoperation to begin, I've changed the hardware parameters but I get the next error:
Failed to contact device with error: [Error reading from SCI port. No data.] Please check that the Create is powered on and the connector is plugged into Create
The robot is power on, and the UST-TTL is working because I've used it to move the robot via serial communication using the iRobot Create 2 Open Interface (OI) Specification based on the iRobot Roomba 600 commands. Also I've tried to use this: https://github.com/AutonomyLab/create_autonomy without results.
I'd thank you a lot if you could help me.
Greetings!!!
More Information:
I've trying to connect ROS with this robot executing the next commands:
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
roslaunch turtlebot_bringup minimal.launch
Then it appears the error. By that I tried the create_autonomy driver. I followed the instructions to install it and when I try to execute it with this commands:
source ~/create_ws/devel/setup.bash
roslaunch ca_driver create_2.launch [desc:=true] [publish_tf:=true]
The next message appears:
[create_2.launch] is neither a launch file in package [ca_driver] nor is [ca_driver] a launch file name
The traceback for the exception was written to the log file.
I've using a PL2303 USB to Serial Converter and an Adafruit FTDI Serial TTL-232 USB Cable. I've tried with a baud rate of 19200 and 115200 and nothing. I want to create a map (SLAM) with this robot using ROS. I'm very new in this and I'd thank you a lot if you could tell me step by step how can I do it.
Thanks and greetings!!!
Asked by Diana_Elyza on 2016-09-04 19:18:10 UTC
Comments
What were the specific issues with create_autonomy?
Asked by jacobperron on 2016-09-18 17:50:08 UTC
The command
source ~/create_ws/devel/setup.bash
assumes that you have created the workspace in your home directory.Try
roslaunch ca_driver create_2.launch
(the square brackets signify optional parameters and should not be there literally, eg,desc:=true
not[desc:=true]
)Asked by jacobperron on 2016-09-21 16:39:25 UTC
Thank you by your answer Jacob!!!
I tried your suggestion but the same error appears:
[create2.launch] is neither a launch file in package [ca_driver] nor is [ca_driver] a launch file name
Asked by Diana_Elyza on 2016-09-22 12:06:56 UTC
That error means that you have either not properly sourced the workspace where you built the driver, or the driver was never successfully built. I would go through all the steps in create_autonomy again and make sure you get no errors or suspicious warnings throughout the process.
Asked by jacobperron on 2016-09-22 14:49:14 UTC
Thanks again!!!
You're right. I solved the problem with the next commands:
But now, I do not how to do SLAM using Gmapping (for example) with this driver and with a Kinect
Greets
Asked by Diana_Elyza on 2016-09-25 19:39:53 UTC
I think turtlebot uses the package depthimage_to_laserscan to convert the Kinect data to a message consumable by gmapping. I would read about these packages and if you still have trouble open a new question.
Asked by jacobperron on 2016-09-26 11:34:35 UTC
Thank you!!!
I'll read them.
Greetings
Asked by Diana_Elyza on 2016-09-29 16:39:22 UTC
Hello!!!
Excuse me Jacob, but I have some doubts about the create package:
Thanks
Asked by Diana_Elyza on 2016-10-01 21:43:32 UTC
/odom
topic.create_2.launch
file launches the description by default. You should see it in Rviz if you add a RobotModel to the viewer and set frame tobase_link
Asked by jacobperron on 2016-10-03 13:10:40 UTC
Thank you!!!
Greetings
Asked by Diana_Elyza on 2016-10-06 11:40:10 UTC