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TurtleBot ROS Fuerte RC1 & Roomba Model 533

asked 2012-11-01 01:28:34 -0600

JP Schubert gravatar image

updated 2014-04-20 14:09:32 -0600

ngrennan gravatar image

I finally got my hands on a Roomba Model 533, best I can do right now. I have been experimenting with electric and so far I have been able to partially get the roomba_500_series to work, intermittent kinect and camera, mostly because I have only found 'partial tutorials'.

I have also been able to teleop from keyboard using the tutorials but it keeps moving and won't stop. I had to modify the roomba_teleop_key python executable to make it stop.

My question is: Is it possible to get the 533 Roomba to work with TurtleBot ROS Fuerte RC1 iso or is it just for those lucky enough to have the fundage to purchase the Create??

Anyone have any experience along these lines that would have to patience to assist?

Ok I have fuerte installed to the hard drive and the minimal.launch file is :

<launch>

<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/turtlebot.urdf.xacro'"/>

<include file="$(find turtlebot_bringup)/app_manager.launch"/>

<node pkg="turtlebot_node" type="turtlebot_node.py" name="turtlebot_node" output="screen" respawn="true" args="--respawnable"> <rosparam> port: /dev/ttyUSB0 publish_tf: True robot:type: roomba has_gyro: False </rosparam> </node>

<node pkg="turtlebot_node" type="laptop_battery.py" name="turtlebot_laptop_battery"> </node>

<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen"> </node>

<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" &gt;="" <!--="" load="" the="" file="" you="" made="" above="" --=""> <rosparam command="load" file="$(find turtlebot_bringup)/config/diagnostics.yaml"/> </node> </launch>

I am now getting the following error in rxconsole - 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

I purchased the cable from irobot and the roomba is turned on...


I also checked the following

turtlebot@turtlebot-Presario-CQ56-Notebook-PC:/dev$ ls /dev/ttyUSB* /dev/ttyUSB0

turtlebot@turtlebot-Presario-CQ56-Notebook-PC:/dev$ dmesg | grep ttyUSB [ 57.669696] usb 5-1: FTDI USB Serial Device converter now attached to ttyUSB0

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answered 2012-11-03 17:54:50 -0600

JP Schubert gravatar image

SOLVED!! I was copying the minimal.launch example file the you suggested above and after 3 reimages I was able to fine another webpage where someone else had same issue and one person in the forum stated - you have a typo in statement robot:type: roomba It should be robot_type: roomba !!!

a single underscore was the reason for the non-communication with SCI port!!!

show link - http://answers.ros.org/question/47094/turtlebot-roomba-dashboard/?answer=47096#post-id-47096

example in middle of page of minimal.launch should be robot_type: roomba

Thanks Lorenz for you help!!

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answered 2012-11-01 02:08:23 -0600

Lorenz gravatar image

I would not suggest to use the roomba_500_series stack because of several implementation related problems. You were facing the most severe one I guess, it does not implement a watchdog that stops the robot in case it does not receive any velocity commands anymore.

You can use the turtlebot driver with the roomba 500 series so I expect the turtlebot iso to work as well. You just need to change the main turtlebot launch file to disable the robot_pose_ekf (I guess you don't have an IMU), to disable the IMU in turtlebot_node, to enable tf publication directly in the turtlebot_node and to change the robot type to roomba. You can find an example launch file here.

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Asked: 2012-11-01 01:28:34 -0600

Seen: 562 times

Last updated: Nov 03 '12