6

There are a number of factors that affect battery voltage of NiMH batteries during discharge versus time. Discharge rate, battery temperature, and battery age are all major contributing factors. As a result there is no one graph of battery voltage vs. time, there are usually a family of curves. You could characterize the battery you have by measuring the ...


6

Assuming that you keep the payload in the bin or near the top of the robot, 9 kg is a safe amount of max payload weight on a flat floor. Create doesn't dynamically balance, so having the weight in both a statically and a dynamically stable location is important. We've also provided files for printing a bin with a caster, in the case that you find your robot ...


6

Can you use a Roomba with ROS? Absolutely. Can you use a Roomba with the existing turtlebot code? Most likely but it may depend on model of the Roomba since older models have a slightly different API. Of course even if there are API differences that haven't been accounted for it should not be too difficult to adjust the code to handle them.


5

I'm not sure which specifications you're asking about, but the manual is here. As far as "nice configuration," it really depends on what you're up to. A Raspberry Pi 2 can run ROS reasonably well, and is relatively inexpensive. As a bonus, there's a write-up on how to hook up a Pi here. You could also use a netbook with the supplied Create 2 to USB cable. ...


5

The Roomba expects binary data. When you type in gtkterm, you are sending ASCII data. (Unless there is a feature of gtkterm i don't know about). For example when you type "128" into the terminal, you are actually sending 3 bytes of data: [49 50 56]. And because many commands of the OI Spec are outside the typeable ASCII range, using the terminal in this ...


5

Yes, it will work! The electrical interface is the same between the Create 2 and the 700 series Roomba; however, the position of the mini-DIN is changed. Instead of being to the right, under the top cover, the connector can be found under a rubber gasket under the handle. As long as any Create cable can physically fit in that location (and the one iRobot ...


5

Any iRobot product with a 7-pin mini-DIN connector has some subset of the Open Interface. Roomba 500 through 800 series should correspond to the set in the Create 2 manual while the 400 or Discovery series correspond to the original iRobot Create. However, based on the date of manufacture, it may be necessary to apply a software update to the robot in order ...


4

Yes, there is a difference between the Create and an off-the-shelf Roomba. The Create doesn't have a vacuum motor or any of the cleaning brushes. And there is an empty payload bay where all of the cleaning stuff used to be. Additionally, the Create has an added microcontroller on it that you can push code onto. But both the create and the Roomba let ...


4

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The Open Interface Spec calls it the "light bumper". Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly ...


4

From the iRobot support site, List of Roomba 400/Discovery error codes: As Roomba cleans, it communicates with songs, beeps, and indicator lights. It also uses sounds to let you know when there's a problem or it needs maintenance. Here are the most common error codes and what they mean. If the problem cannot be resolved, contact iRobot Customer Care. ...


4

There is a bug in the implementation of sleep/wakeup on Create 2 which was fixed in release-3.8.2 for robots with an older processor, or release-stm32-3.7.7 for robots with a newer processor. To receive a code update that will (hopefully) fix your issue, please e-mail create@irobot.com, referencing this post. Please note that while I'm an iRobot employee, ...


3

It is very easy to control an iRobot Create with an Arduino or other microcontroller. If you have one of the Mini-DIN cables (circular ones) that you are willing to cut up you can wire the correct pins into the TX and RX of an Arduino or PCDuino. I have found that it is easier though to use the large DB-25 connector (which is the same one used on old ...


3

I believe the Create was not sold in Europe because it is not RoHS compliant. However, every Roomba can be hacked. You can communicate with the robot with the "Open Interface" or sometimes called the "Serial Control Interface". There is lots of information about this on the web. See here for example: http://www.irobot.com/filelibrary/pdfs/hrd/create/...


3

As it turns out, I was not loading the sensor values into the array properly. It seems that data is transmitted one byte at a time, so the sensorbytes array needed to be an array of 4 elements rather than two. Once this was corrected, the correct encoder counts could be determined by joining the upper and lower bytes of the encoder counts from each wheel ...


3

The caster shaft can potentially not seat right causing canting of the robot. Can you share pictures of your print? I have had good luck with printing the files posted on the iRobot thingiverse page.


3

Roomba goes to sleep to save power after five minutes of inactivity, as detailed in the OI spec (Aug. 10, 2015) on page 6, under "Passive Mode." The documentation is not in error where you have quoted it, as Roomba powers on with the OI off (and not in passive, safe, or full). If you want your robot to never fall asleep, put it into FULL. If you want the ...


3

I have been testing Steve’s answer using the Create cable and Python and have ran into some difficulties. Enabling hardware flow control when opening the serial port results in nothing happening when sending/receiving data from the Create 2. Page 4 of the guide says “Flow control: None”. While I have never used hardware flow control, I suspect the Create ...


3

Short answer - No, it is not possible. None of the motor drivers will deliver 24W, see link. In addition the power supply that provides charging power to the robot is limited to just over 24W under the best case. See the dock rating on the label (22.5V @ 1.25A). All of this power is used to charge the robot battery and power the robot electronics to ...


3

There is no good way to do this by hacking in a switch because the battery goes right into the main PCB, but you do have two other good options. Send opcode 7: "This command resets the robot, as if you had removed and reinserted the battery" Press and hold the SPOT and DOCK buttons for 10 seconds.


3

No, there is no software or hardware volume control on the Roomba. You could probably put a potentiometer inline with the speaker wire to manually change the volume. However, getting to the speaker is a bit of work. But I believe is totally doable. You just have to disassemble (and reassemble) lots of the robot. This would make a great project, be ...


3

Have you tried sending the example commands from the manual? Make sure you are entering an OI mode before you try to send an actuator command or sensor reading command. Otherwise, the commands will be ignored. Posting the commands you are sending would also be helpful in understanding the problem you are having.


3

Here are a few ideas: Buy 0.050" spacing prototyping board. For example, here are some possible boards that could work on Digi-Key. Use a PCB prototyping service and fabricate the board you're looking for; this would have the advantage that you could add other circuits to the panel that you may need for your project. Remove the boards from the wheel modules ...


3

Use the values from the OI Spec. These are pulled from the CAD and are accurate up to manufacturing tolerances. I am guessing the values that you see in code samples are left over from the old Create.


3

With footslam or actionslam it is possible to locate pedestrian and smartphones even they have no distance-sensor. It is an advanced stochastic technic which is derived from classical "sebastian thrun slam" but uses less input data. The precision is low and thats the reason why footslam is often used together with other localisation techniques like satellite ...


3

Did you spell it right? Python is case sensitive and if you are using Tkinter it's spelled Tk().


3

I understand that the problem was when running this command in the terminal: sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' Could it be you forgot to run it with sudo?


3

My dad actually works as a a software designer for iRobot and he tells me that exceeding 15-20 lbs is probably the limit for a load with which the robot can function normally. Personally though, I would just test it out with increasing weights (if you're worried about it breaking, it is built to withstand a 180 lb guy standing on it). However, he also ...


3

The Roombots example you posted does not use a level shifter because they are using the Create USB cable to talk to the robot. If you are planning to use this cable, you do not need the level shifter. If you are not planning to use this cable and instead will be interfacing directly to the Raspberry Pi serial pins (on the GPIO header), then the answer below ...


3

The 68x series has a Mini-DIN connector on the top surface, toward the robot's right side, but it's now under the translucent diffuser surrounding the buttons. It is held in by snaps. Lift the handle, stick your fingers under, and pull the plastic piece up and out. Please note that I am an iRobot employee, but the postings on this site are my own and don't ...


3

Unfortunately, iRobot 900 series robots do not support the "Open Interface" spec that the Create uses. It is only on 500, 600, 700, and 800 series models. See this thread for more info: What iRobot products support the open interface besides the iRobot Create?


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