Rosanswers logo

Hey there,

I have a roomba version 521 and I would like to use it as base of a "turtle Bot". I know this is kind of old stuff cause no one uses these base es anymore. Many use kobuki or directly start with TurtleBot version 3.

Nevertheless I would like to use a roomba version 521 as the base staion of my turtlebot. Now I am searching for software to connect this base station via a Mini - DIN serial port connector to a laptop on which ros indigo 14.04 LTS is running on.

My Problem is I do not find any working software for communicating with ros with my laptop to the roomba. I ended up with this tutorial: wikiRobots/RoombaRobin.

When I tried to test the software I downloaded within this tutorial. And I started:

roslaunch roomba_robin_bringup minimal.launch

I got the following errors:

roslaunch roomba_robin_bringup minimal.launch ...
logging to /home/markus/.ros/log/65038936-b274-11e6-8df8-9cb70de7f81a/roslaunch-turtleBot1-6333.log
Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

while processing /home/markus/catkin_ws/src/roomba_robin/roomba_robin_bringup/launch/includes/mobile_base.launch.xml:
while processing /home/markus/catkin_ws/src/roomba_robin/roomba_robin_bringup/launch/includes/kobuki/mobile_base.launch.xml:

Invalid roslaunch XML syntax: [Errno 2] No such file or directory:
The traceback for the exception was written to the log file

Any ideas how I can solve this issue?

By the way if I connect my serial cable with the laptop and type lsusb I see the following:

Bus 003 Device 006: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC

Hope if somebody knows where there is still software for the roomba 521 available?

WIth the Tipp of Jacob: Thanks Jacob,

I saw that you have one of the biggest libraries for the Roombas and I already testet it... I followed your tutorial on your Page step by step but I came into some problems when executing

roslaunch ca_driver create_1.launch [publish_tf:=true]

markus@turtleBot1:~/create_ws/create_autonomy/ca_driver/launch$ > catkin build > ----------------------------------------------------------- Profile: default > Extending: [env] > /opt/ros/indigo Workspace: > /home/markus/create_ws > ----------------------------------------------------------- Source Space: [exists] > /home/markus/create_ws/src Log Space: > [exists] /home/markus/create_ws/logs > Build Space: [exists] > /home/markus/create_ws/build Devel > Space: [exists] > /home/markus/create_ws/devel Install > Space: [unused] > /home/markus/create_ws/install > DESTDIR: [unused] None > ----------------------------------------------------------- Devel Space Layout: linked > Install Space Layout: None > ----------------------------------------------------------- Additional CMake Args: None > Additional Make Args: None > Additional catkin Make Args: None > Internal Make Job Server: True > Cache Job Environments: False > ----------------------------------------------------------- Whitelisted Packages: None > Blacklisted Packages: None > ----------------------------------------------------------- Workspace configuration appears valid. > ----------------------------------------------------------- [build] No packages were found in the > source space > '/home/markus/create_ws/src' [build] > No packages to be built. [build] > Package table is up to date. > [build] Summary: All 0 packages > succeeded! > [build] Ignored: None. > [build] Warnings: None. > [build] Abandoned: None. > [build] Failed: None. > [build] Runtime: 0.3 seconds total. > markus@turtleBot1:~/create_ws/create_autonomy/ca_driver/launch$ roslaunch ca_driver create_2.launch [desc:=true] [publish_tf:=true] [create_2.launch] is neither a launch file in package [ca_driver] nor is [ca_driver] a launch file name The traceback for the exception was written to the log file

markus@turtleBot1:~/create_ws/create_autonomy/ca_driver/launch$ roslaunch ca_driver create_1.launch [publish_tf:=true] [create_1.launch] is neither a launch file in package [ca_driver] nor is [ca_driver] a launch file name The traceback for the exception was written to the log file

create_1.launch is neither a launch file in package [ca_driver] nor is [ca_driver] a launch file name

Do I have to modify the installation in some why have I installed something wrong

Best Markus

Best Markus

Originally posted by Markus on ROS Answers with karma: 311 on 2016-11-24

Post score: 0


1 Answer 1


Rosanswers logo

Hi Markus,

You could check out my driver create_autonomy for controlling the Roomba base as a replacement to roomba_robin. The create_1.launch file should do the trick.


Originally posted by jacobperron with karma: 1870 on 2016-11-24

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by Markus on 2016-11-25:
as comments are not allowed to be that long I just posted an answer above ... Would be glad if you could help me.

Comment by jacobperron on 2016-11-25:
catkin is not detecting any packages. Is the create_autonomy repository actually cloned inside catkin_ws/src ? Also, the square brackets [publish_tf:=true] are to indicate it is optional, meaning you shouldn't actual type those. You can just run roslaunch ca_driver create_1.launch.

Comment by Markus on 2016-11-29:
Hm I fixed that issue now. However I get a new Problem when executing> roslaunch ca_driver create_1.launch
It says the following> Unable to contact my own server at []. This usually means that the network is not configured properly.

Comment by Markus on 2016-11-29:
After solving this error I would like to know how do I use: rostopic pub power_led std_msgs/UInt8MultiArray 1 2 the above code is not workin what do I have to change

Comment by jacobperron on 2016-11-30:
You might find rosrun rqt_publisher rqt_publisher easier to use. I'm not sure of the proper command line syntax.

Comment by jacobperron on 2016-11-30:
As far as network issues go, I would ask around other threads. See http://answers.ros.org/question/236444/unable-to-contact-my-own-server/?answer=236592#post-id-236592

Comment by Markus on 2016-11-30:
The command line syntax is:

rostopic pub -1 /set_ascii std_msgs/UInt8MultiArray '{data:[34,35]}'

rostopic pub /power_led std_msgs/UInt8Multiray '{data:[90]}'

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.