Create Autonomy + ROS + iRobot Create - odometry
We are experimenting with an iRobot Create (IC) and using the Create Autonomy (CA) library. We have a few anomalies that maybe someone can shed a light on:
1) We are not getting /nav_msgs/Odometry messages published, even though we have the IC rotating on the floor.
2) Regarding the /bumper message type: I assume that is_light_left etc. messages correspond to when the wheels are not solidly on the ground, right? I found that they are very unreliable, in some cases not responding at all to the wheel, and sometimes being very slow to respond. Is that a sign of a problem with the hardware?
3) Regarding the omni IR sensor: It looks like it returns either 0 or 161 -- is that correct? But the range is very short (like 10-20 cm). I know a Roomba can find its way to the base from a longer distance. Is it not relying on the IR?
Thanks!
Do you have a link to the library?
http://wiki.ros.org/create_autonomy