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iRobot Create3

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HAL edited this page May 17, 2024 · 2 revisions

Basic Usage

Sample nodes and Simulator for the Create3.

The iRobot Create3 is an educational robot that can be controlled using either their Python API or ROS2. We are going to be using ROS2. You can connect to the robot with the following methods:

  • Bluetooth:
  • Create3 wifi access point
    • Hold down the two buttons to either side of the power button until the ring light turns blue.
    • Next, on a computer capable of wifi connections, look for a network that named something like "Create-NNNN"
    • Connect to th network, then navigate to http://192.168.10.1to access the robot's webserver
  • Shared wifi network
    • From the directions above, you can use the robot's webserver page to connect it to a different wifi network
    • If the robot and computer are on the same network, you can find the robot's ip through your method of choice (ipconfig, or arp -a) and navigate to it.
    • On the EVL-IoT network, the Create3's IP is 10.0.0.21.
    • On the GL.inet mini router, the Create3ss IPs are 192.168.8.240 or 192.168.8.124.

Network Notes

Currently, the only reliable way to connect ROS2 and the iRobot Create3 is using the wifi connection to the GL.inet mini-router. If the computer and the robot are both on the GL.inet network, and ros2 topic list does not print any topics containing the /robot_1 or /robot_2 prefix, you max need to restart the robot's ROS2 application, which can be done through the page at the IP addresses above.

URDF

URDF Files for the Create3s can be found in the Simulator repository. However, to make these useful in either Unity or Isaac Sim, they require some editing. First, they must be converted from urdf.xarco to urdf. Next, they must be edited to remove package dependent file paths.

For convenience, you can download the converted files from our repository. You may need to edit lines 12, 35, and 40 of Create3_URDF/create3.urdf to include the full, absolute path to wherever you have saved the Create3_URDF folder.

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