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turtlebot roomba not working

asked 2012-09-23 09:40:34 -0500

BUTT gravatar image

updated 2012-09-23 22:18:17 -0500

Lorenz gravatar image

I have a turtlebot roomba 531 which I am trying to run with a simple launch file as below ;

<launch>
  <node name="turtlebot_node" type="turtlebot_node.py" pkg="turtlebot_node">
    <rosparam>
      port: /dev/ttyUSB0
      publish_tf: True
      robot:type: roomba
      has_gyro: False

    </rosparam>
  </node>
</launch>

But I get following error message ;

"Failed to contact device with error: [Error reading from SCI port. No data.]. Please check that the Create is powered on and that the connector is plugged into the Create.

When I try passing roomba opcodes using cutecom on ttyUSB0 @ 115200 baudrate it responds to these opcodes although not exactly like when I send \0x80 it starts cleaning but when I send \0x82 it stops.When I command it to run straight at a certain velocity it again starts cleaning.

Can anybody help me what is the issue with this roomba ?

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answered 2012-09-23 22:20:22 -0500

Lorenz gravatar image

You have a typo in your launch file. It's not robot:type: but robot_type:.

When working with the roomba, you first need to switch it to the right mode by pressing the on-off key for a while.

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answered 2012-10-05 08:18:19 -0500

BUTT gravatar image

updated 2012-10-08 00:10:10 -0500

Problem is now solved.The problem was the PL2303 based USB to Serial converter output was not TTL/CMOS compatible so I have now used MAX232 to convert voltage levels to TTL/CMOS levels.Roomba is now working with ROS.

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answered 2012-10-08 00:07:14 -0500

BUTT gravatar image

I have a mini din connector (8 pin). Have used pin nos 1,3,5 and 7 with 1& 7 for Battery access.Roomba 531 which I am using dont have gyro.I have a pl2303 based usb to serial converter and then I have used MX232 for level conversions.

You can check my videos at;

1) Only Roomba being controlled : https://www.dropbox.com/s/fwez46vh1bwueo3/Turtlebot1-video-1.AVI

2) Completely assembled turtlebot roomba : https://www.dropbox.com/s/vvfgl8x2ihh5m6m/Turtlebot2.3gp

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Please do not create answers for discussion. Instead, please use the comment functionality.

Lorenz gravatar image Lorenz  ( 2012-10-08 00:11:38 -0500 )edit
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answered 2012-10-06 06:02:10 -0500

krst gravatar image

Just want to ask if you are using a home made usb-mini_din cable for your roomba? Is it working well without the gyro or you manged to add a gyro in another way?

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Please do not create answers for discussion. Instead, please use the comment functionality.

Lorenz gravatar image Lorenz  ( 2012-10-08 00:11:30 -0500 )edit

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Asked: 2012-09-23 09:40:34 -0500

Seen: 630 times

Last updated: Oct 08 '12