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Hey there,

what I recently did was installing a ROS driver for a roomba 521 (similar to a turtlebot1). I cloned this files in my catkin_ws/src/create_autonomy and then I just catkin_make them. All works fine. Now what I found out is that this ROS driver relies on a libcreate library. This library is however build in catkin_ws/devel/src/libcreate.

What I want to do next is create an own package (e.g: catkin_ws/src/roomba_521) and in this package I would like to have some c++ files which somehow include this library, so that I can use functions etc.

(1) That is why I would like to ask how and where do I have to install the libcreate library

(2) How do I have to reference to this library e.g. in a c++ file / just include these files?


Originally posted by Markus on ROS Answers with karma: 311 on 2016-11-30

Post score: 1


Original comments

Comment by Usui on 2019-06-23:
Wait, catkin_ws/devel/ only has include, lib, and share. Where is the src? Also how did you link libcreate and create_autonomy?

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You can use this dev branch of create_autonomy (EDIT: merged) as a reference. This assumes that libcreate is installed as a catkin package (currently by cloning libcreate into your workspace and building with catkin). Then, in your package.xml you can add build/run dependencies to libcreate, include/link in your CMakeLists.txt (example), and include the header create/create.h and make API calls in your code (example). Hope it helps.


Originally posted by jacobperron with karma: 1870 on 2016-12-01

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Markus on 2016-12-02:
Thanks Jacob ;) that was easier as I thought! I got it. I also would like to use your code and libcreate library for my own project which is specefic for the roomba 521. Do I have your permission to create an own github repository witch contains code that is very similar to yours?

Comment by jacobperron on 2016-12-02:
Yes, as long as you adhere to the 3-clause BSD license. Is there a core feature that create_autonomy is missing that you cannot just use that?

Comment by Markus on 2016-12-03:
No your code is working perfect. Anyway I just would like to experiment a little bit with it and simply git clone this modified code that is why I am thinking about making my own repository. I hope this is ok for you? Anyway I found out that I am not able to execute dual processes on the roomba.

Comment by Markus on 2016-12-03:
Dual Processes on the roomba: I was for example not able to simultanously play a song and change the colour of the power clean led light.

Comment by jacobperron on 2016-12-03:
OK. If you end up improving the functionality of the driver, pull requests are welcome :)

Comment by Markus on 2016-12-05:
of course I will let you know if I have something.

Comment by Usui on 2019-06-23:
@jacobperron your links doesn't lead to any page. Could you re upload it?

Comment by jacobperron on 2019-07-02:
@Usui updated.

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