ROS drivers for the roomba 500 series robots
The following two ROS packages are forked in from ISR - University of Coimbra repository; https://code.google.com/p/isr-uc-ros-pkg/
ROS Electric or ROS Fuerte installation (http://ros.org/wiki) is needed for these packages. Build and install
and roomba_robot with
and make sure that these are on the ROS PATH.
Connect the Roomba with the computer using a FTDI USB cable, Bluetooth connectivity will also suffice. To check for the port and connection of the FTDI USB cable, type in
dmesg | grep tty
in the terminal window, it should give output as this,
this confirms that the FTDI USB cable has been interfaced with the computer.
Switch on the robot, the CLEAN button will have a light on
Start an instance of the master and in another terminal window type in
rosrun roomba_500_series roomba560_node
the above node is specifically made for Roomba 560 robot, for any other model consider trying out the following,
rosrun roomba_500_series roomba500_light_node
that should make the lights of the robot go off and give an output as this,
Now the robot can be controlled by ROS nodes, try teleoperation etc.
On a ROS Electric installation (Ubuntu 10.04 LTS, Ubuntu 11.04 and Ubuntu 11.10)
By Devasena Prasad (email@example.com)
On a ROS Groovy installation (Ubuntu 12.04)
Permission for USB must be changed using
sudo chmod 777 /dev/ttyUSB*
roomba500_light_node works fine