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