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I am trying to build a turtlebot from scratch using the Roomba 510. I think I have made the correct cable connection but I am not sure about the baud rate. Changing the baud rate from 57600 to 115200 the driver.py doesn't seem to change anything. I am getting OI charging error messages during bring-up minimal launch.


Originally posted by DrBot on ROS Answers with karma: 147 on 2012-02-10

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I solved this by giving up on the circuit I saw on Flicker, and substituting a Freeduino USB bib to do the conversion between USB and the TTL level signals used by the ROOMBA. only three wires are needed - TXD, RXD, and GND. I did not use the Signal labled DD from the Roomba - I think this is used for changing the baud rate and needs a special signal to do that.

This leads to a thought, perhaps the entire Freeduino could be used and aqditional sensors like a Gyro chip can be wired in. I am not sure how Turtlebot EU folks add the gyro.

On My Youtube cahnnel I have clips of my turtlebot in operation.

YouTube Channel

I also have a servo magazine article in press


Originally posted by DrBot with karma: 147 on 2012-02-10

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