Roomba 780 bluetooth ROS

asked 2016-09-23 08:25:42 -0600

gijsje170 gravatar image

Is it possible to have my roomba 780 controlled via bluetooth and ROS? I found the roomba 500 package but unfortunately the source is no longer available.

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Check out my driver create_autonomy to handle the serial communication. I'm not sure about Bluetooth. iRobot has a brief tutorial on making a Bluetooth Serial Adaptor

jacobperron gravatar image jacobperron  ( 2016-09-24 02:02:39 -0600 )edit

Unfortunately I am using ROS hydro which will not work.

gijsje170 gravatar image gijsje170  ( 2016-09-26 01:29:55 -0600 )edit

Have you tried building create_autonomy from source with Hydro? I'm curious what build errors (if any) arise.

jacobperron gravatar image jacobperron  ( 2016-09-26 11:20:07 -0600 )edit

Yea i was able to build it from source. I was not able to run create_2.launch due to giving errors in the urdf.xacro. After replacing the urdf xacro it works. When running the application the roomba starts to beep and the terminal says serial error - Operation canceled and failed to receive data.

gijsje170 gravatar image gijsje170  ( 2016-09-27 02:14:18 -0600 )edit

Bascially this is the sequence: /opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher [create::Serial] failed to receive data from Create. Check if robot is powered! [create::Create] retrying to establish serial connection... [create::Serial] serial error - Operation canceled

gijsje170 gravatar image gijsje170  ( 2016-09-27 02:37:16 -0600 )edit

Did some more testing it fails here

if (!robot_->connect(dev_, baud_))

So maybe it is not connecting correctly via bluetooth. Unfortunately i dont have usb cable for roomba.

gijsje170 gravatar image gijsje170  ( 2016-09-27 02:52:27 -0600 )edit

It is working now for some reason don't know yet but this confirms your library works with bluetooth and roomba 780 Thank you for your help. Edit: Looks like for some reason it isn't working again :P

gijsje170 gravatar image gijsje170  ( 2016-09-27 04:27:58 -0600 )edit

I am going to make a cable for it but basically your library works with ros hydro except for the urdf xacro file.

gijsje170 gravatar image gijsje170  ( 2016-09-27 07:34:16 -0600 )edit