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I have a turtlebot roomba 531 which I am trying to run with a simple launch file as below ;

<launch>
  <node name="turtlebot_node" type="turtlebot_node.py" pkg="turtlebot_node">
    <rosparam>
      port: /dev/ttyUSB0
      publish_tf: True
      robot:type: roomba
      has_gyro: False

    </rosparam>
  </node>
</launch>
 

But I get following error message ;

"Failed to contact device with error: [Error reading from SCI port. No data.]. Please check that the Create is powered on and that the connector is plugged into the Create.

When I try passing roomba opcodes using cutecom on ttyUSB0 @ 115200 baudrate it responds to these opcodes although not exactly like when I send \0x80 it starts cleaning but when I send \0x82 it stops.When I command it to run straight at a certain velocity it again starts cleaning.

Can anybody help me what is the issue with this roomba ?


Originally posted by BUTT on ROS Answers with karma: 31 on 2012-09-23

Post score: 1

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2 Answers 2

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You have a typo in your launch file. It's not robot:type: but robot_type:.

When working with the roomba, you first need to switch it to the right mode by pressing the on-off key for a while.


Originally posted by Lorenz with karma: 22731 on 2012-09-23

This answer was ACCEPTED on the original site

Post score: 0

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Problem is now solved.The problem was the PL2303 based USB to Serial converter output was not TTL/CMOS compatible so I have now used MAX232 to convert voltage levels to TTL/CMOS levels.Roomba is now working with ROS.


Originally posted by BUTT with karma: 31 on 2012-10-05

This answer was NOT ACCEPTED on the original site

Post score: 1

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