76 lines
3.1 KiB
Markdown
76 lines
3.1 KiB
Markdown
# libcreate #
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C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba. [create_robot](http://wiki.ros.org/create_robot) is a [ROS](http://www.ros.org/) wrapper for this library.
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* [Code API](http://docs.ros.org/noetic/api/libcreate/html/index.html)
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* Protocol documentation:
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- [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k/view?usp=sharing&resourcekey=0-KxMpRPBMsGAj7eSYC_9ewA) (Roomba 400 series )
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- [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U/view?usp=sharing&resourcekey=0-bqKH8xhtWdYtTik_LLWo9Q) (Create 1, Roomba 500 series)
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- [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c/view?usp=sharing&resourcekey=0-rKvug2IzC7nj4zV31EJtww) (Create 2, Roomba 600-800 series)
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* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](https://autonomy.cs.sfu.ca), [Simon Fraser University](http://www.sfu.ca))
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* Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98), [Josh Gadeken](https://github.com/process1183)
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## Build Status ##
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## Dependencies ##
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* [Boost System Library](http://www.boost.org/doc/libs/1_59_0/libs/system/doc/index.html)
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* [Boost Thread Library](http://www.boost.org/doc/libs/1_59_0/doc/html/thread.html)
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* [Optional] [googletest](https://github.com/google/googletest)
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### Install ###
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sudo apt-get install build-essential cmake libboost-system-dev libboost-thread-dev
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# Optionally, install gtest for building unit tests
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sudo apt-get install libgtest-dev
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cd /usr/src/gtest
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sudo cmake CMakeLists.txt
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sudo make
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sudo cp *.a /usr/lib
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#### Serial Permissions ####
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User permission is requried to connect to Create over serial. You can add your user to the dialout group to get permission:
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sudo usermod -a -G dialout $USER
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Logout and login again for this to take effect.
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## Build ##
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Note, the examples found in the "examples" directory are built with the library.
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#### cmake ####
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git clone https://github.com/AutonomyLab/libcreate.git
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cd libcreate
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mkdir build && cd build
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cmake ..
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make -j
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#### catkin ####
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Requires [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/).
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mkdir -p create_ws/src
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cd create_ws
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catkin init
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cd src
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git clone https://github.com/AutonomyLab/libcreate.git
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catkin build
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## Running Tests ##
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To run unit tests, execute the following in the build directory:
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make test
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## Known Issues ##
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* _Clock_ and _Schedule_ buttons are not functional. This is a known bug related to the firmware.
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* Inaccurate odometry angle for Create 1 ([#22](https://github.com/AutonomyLab/libcreate/issues/22))
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* Some 600 series models incorrectly report the OI Mode in their sensor stream ([create_robot #64](https://github.com/AutonomyLab/create_robot/issues/64))
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- To enable or disable the OI Mode reporting workaround, pass `true` or `false` to `setModeReportWorkaround()`
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