MobileRobot, RTComponents

[RTC] RoombaRTC

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Name

RoombaRTC

Brief

Roomba RTC

Description

RT Component for Controlling Roomba (iRobot). Roomba can be controlled by PCs with the serial interfaces. With Roomba 500 series, the top panel can be released and the DIN connector appears. If you want to know in more detial, please check Roomba Open Interface.

License

LGPL

Image

Language

C++

URL

https://github.com/sugarsweetrobotics/RoombaRTC.git

Platform

[‘osx’, ‘ubuntu’, ‘win’]

Data In Ports

Name Type Unit Description
targetVel RTC::TimedVelocity2D Target velocity of Roomba. Unit is m/sec or rad/sec.
updatePos RTC::TimedPose2D Position to be update. Input data to this port, then current position will be updated.
serviceName RTC::TimedString

Data Out Ports

Name Type Unit Description
currentVel RTC::TimedVelocity2D m/sec or radian/sec This port outputs the current velocity of Roomba.
currentPos RTC::TimedPose2D meter or radian This port outputs Current Position of Roomba. Roomba RTC always estimates its own position by odometry.
bumpers RTC::TimedBooleanSeq
infraReds RTC::TimedBooleanSeq

Service Ports

roombaService

This service port provides Roomba’s command (mainly mode changes).

Name Direction Type Description
RoombaCommand Provided ssr::RoombaCommand This service port provides Roomba’s command (mainly mode changes).

Configurations

Name Type Default Unit Description
model string 500series
serial_port string COM1
baudrate int 115200

How To Build

Linux

  $ git clone https://github.com/sugarsweetrobotics/RoombaRTC.git
  $ cd RoombaRTC
  $ mkdir build
  $ cd build
  $ cmake ../
  $ make

Windows

  Download ZIP file from the website, and use CMake to generate VC2010 project.
  Then, open the project and build it.

How To Build in wasanbon

  $ wasanbon-admin.py package create RoombaRTC_test_project # You can also use other preinstalled package 
  $ wasanbon-cd RoombaRTC_test_project
  $ ./mgr.py rtc clone RoombaRTC
  $ ./mgr.py rtc build RoombaRTC
  $ ./mgr.py rtc run RoombaRTC # To Run RTC

Profile Status

Not available

Build Status

Build in Windows

Success (2015-01-23 10:25:44.139000)

Build in OSX

Success (2015-01-23 01:41:54.980649)

Build in Linux

Failed (2015-01-22 20:36:12.002153)

Copyright

Sugar Sweet Robotics