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C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roomba. [create_autonomy](http://wiki.ros.org/create_autonomy) is a [ROS](http://www.ros.org/) wrapper for this library.
* Documentation: TODO
* Code API: TODO
* [Code API](http://docs.ros.org/kinetic/api/libcreate/html/index.html)
* Protocol documentation:
- [`V_1`](http://www.ecsl.cs.sunysb.edu/mint/Roomba_SCI_Spec_Manual.pdf) (Roomba 400 series )
- [`V_2`](http://www.irobot.com/filelibrary/pdfs/hrd/create/Create%20Open%20Interface_v2.pdf) (Create 1, Roomba 500 series)
@ -11,28 +10,45 @@ C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com
* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
* Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98)
## Build Status ##
![Build Status](https://api.travis-ci.org/AutonomyLab/libcreate.svg?branch=master)
## Dependencies ##
* [Boost System Library](http://www.boost.org/doc/libs/1_59_0/libs/system/doc/index.html)
* [Boost Thread Library](http://www.boost.org/doc/libs/1_59_0/doc/html/thread.html)
## Install ##
#### Serial Permissions ####
* `cmake CMakeLists.txt`
* `make`
* `sudo make install`
User permission is requried to connect to Create over serial. You can add your user to the dialout group to get permission:
## Example ##
sudo usermod -a -G dialout $USER
See source for examples.
Logout and login again for this to take effect.
Example compile line: `g++ create_demo.cpp -lcreate -lboost_system -lboost_thread`
## Build ##
## Known issues ##
Note, the examples found in the "examples" directory are built with the library.
#### cmake ####
git clone https://github.com/AutonomyLab/libcreate.git
cd libcreate
mkdir build && cd build
cmake ..
make -j
#### catkin ####
mkdir -p create_ws/src
cd create_ws
catkin init
cd src
git clone https://github.com/AutonomyLab/libcreate.git
catkin build
## Known Issues ##
* _Clock_ and _Schedule_ buttons are not functional. This is a known bug related to the firmware.
* Inaccurate odometry angle for Create 1 ([#22](https://github.com/AutonomyLab/libcreate/issues/22))
## Build Status ##
![Build Status](https://api.travis-ci.org/AutonomyLab/libcreate.svg?branch=master)