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Build my turtlebot with irobot create 2, but sensor...

Hi gentlemen and ladies,

I'm trying to use iRobot Create 2(roomba 600 , moving base) to build My Own Turblebot_i to finish some experiments.

I met some problems about getting the position of my moving base.

I use usb-serial cable connecting my moving base and my netbook.

I have two questions:

  • How can I use the data of sensor package of iRobot Roomba 600 in ROS?

  • How can I transform the data of
    sensor package(distance and angle)
    into the message that of the topic of /robot_pose_ekf