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Stefan Krupop ccf6d0cdc0 Use OC_MOTORS instead of OC_MOTORS_PWM on V_1 models (#55 ) SCI for older Roombas (V_1) did not include OC_MOTORS_PWM, but only OC_MOTORS. Use that instead of OC_MOTORS_PWM for V_1, interpeting values != 0 as "on"		2019-12-03 16:20:35 -08:00
examples	Cleanup examples	2019-09-02 12:30:45 -07:00
include/create	Use std::chrono instead of custom timestamp function	2019-09-02 12:09:43 -07:00
src	Use OC_MOTORS instead of OC_MOTORS_PWM on V_1 models (#55 )	2019-12-03 16:20:35 -08:00
tests	Add unit tests (gtests)	2018-04-06 21:44:28 -07:00
.travis.yml	Remove Trusty CI job	2019-09-02 12:09:43 -07:00
CHANGELOG.rst	2.0.0	2019-09-02 14:12:10 -07:00
CMakeLists.txt	Default to C++11	2019-09-02 12:09:43 -07:00
config.cmake.in	Refactor cmake files	2017-12-17 18:37:08 -08:00
LICENSE	Code cleanup	2016-02-12 17:44:30 -08:00
mainpage.dox	Add mainpage.dox	2016-10-16 16:30:44 -07:00
package.xml	2.0.0	2019-09-02 14:12:10 -07:00
README.md	Update README	2019-08-26 22:15:00 -07:00

README.md

libcreate

C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba. create_autonomy is a ROS wrapper for this library.

Code API
Protocol documentation:
- V_1 (Roomba 400 series )
- V_2 (Create 1, Roomba 500 series)
- V_3 (Create 2, Roomba 600-800 series)
Author: Jacob Perron (Autonomy Lab, Simon Fraser University)
Contributors: Mani Monajjemi, Ben Wolsieffer

Build Status

Dependencies

Install

    sudo apt-get install build-essential cmake libboost-system-dev libboost-thread-dev

    # Optionally, install gtest for building unit tests
    sudo apt-get install libgtest-dev
    cd /usr/src/gtest
    sudo cmake CMakeLists.txt
    sudo make
    sudo cp *.a /usr/lib

Serial Permissions

User permission is requried to connect to Create over serial. You can add your user to the dialout group to get permission:

    sudo usermod -a -G dialout $USER

Logout and login again for this to take effect.

Build

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

Requires catkin_tools.

    mkdir -p create_ws/src
    cd create_ws
    catkin init
    cd src
    git clone https://github.com/AutonomyLab/libcreate.git
    catkin build

Running Tests

To run unit tests, execute the following in the build directory:

    make test

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)