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I am trying to get an iRobot Create to turn by 90 degrees. I am using the irobot_create_2_1 driver. I am trying to subscribe to \odom topic to read the orientation but am not sure exactly which parameter gives the current angle. I know Create provides an opcode for wait_angle (opcode 157). Can I use this for turning using the brown driver?
One way to do this, is to determine the heading between odom and base_link which is published by the driver. An example of this can be found here in albany-ros-pkg seminar2011/square_with_tf.py. This was an example piece of code we used to draw squares on the ground with that same driver, although it was last run 2 years ago so something might have changed in the driver or ROS since then.
Asked: 2013-04-06 15:53:28 -0500
Seen: 916 times
Last updated: Apr 07 '13
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tryin to connect irobot using bam bluetooth module, but it returns "bad data" and "OSError: [Errno 11] Resource temporarily unavailable" on driver.py....plz help