iRobot® Create® Platform interfaces

ROS 2 action, message, and service definitions used by the iRobot® Create® Platform.

For more information about ROS 2 interfaces, see docs.ros.org

Actions (.action)

• AudioNoteSequence: Play a given set of notes from the speaker for a given number of iterations.
• Dock: Command the robot to dock into its charging station.
• DriveArc: Command the robot to drive along an arc defined by radius.
• DriveDistance: Command the robot to drive a defined distance in a straight line.
• LedAnimation: Command the lights to perform specified animation.
• NavigateToPosition: Command the robot to drive to a goal odometry position using simple approach that rotates to face goal position then translates to goal position then optionally rotates to goal heading.
• RotateAngle: Command the robot to rotate in place a specified amount.
• Undock: Command the robot to undock from its charging station.
• WallFollow: Command the robot to wall follow on left or right side using bump and IR sensors.

Messages (.msg)

• AudioNote: Command the robot to play a note.
• AudioNoteVector: Command the robot to play a sequence of notes.
• Button: Status for a button.
• DockStatus: Information about the robot sensing its dock charging station.
• HazardDetection: An hazard or obstacle detected by the robot.
• HazardDetectionVector: All the hazards and obstacles detected by the robot.
• InterfaceButtons: Status of the 3 interface buttons on the Create® robot faceplate.
• IrIntensity: Reading from an IR intensity sensor.
• IrIntensityVector: Vector of current IR intensity readings from all sensors.
• IrOpcode: Opcode detected by the robot IR receivers.
• KidnapStatus: Whether the robot is currently kidnapped or not.
• LedColor: RGB values for an LED.
• LightringLeds: Command RGB values of 6 lightring lights.
• Mouse: Reading from a mouse sensor.
• SlipStatus: Whether the robot is currently slipping or not.
• StopStatus: Whether the robot is currently stopped or not.
• WheelStatus: Current/PWM readings from the robot’s two wheels in addition to whether wheels are enabled.
• WheelTicks: Reading from the robot two wheels encoders.
• WheelVels: Indication about the robot two wheels current speed.

Services (.srv)

• EStop: Set system EStop on or off, cutting motor power when on and enabling motor power when off.
• ResetPose: Reset the robot pose estimate to the specified value.
• RobotPower: Power off robot.

Changelog for package irobot_create_msgs

3.0.0 (2024-06-05)

• Merge pull request #17 from iRobotEducation/16-broken-link-in-the-readme Fix broken link about ROS 2 interfaces
• Fix broken link about ROS 2 interfaces
• Contributors: Steven Shamlian

2.1.0 (2022-09-15)

• rename DockServo action into Dock and Dock msg into DockStatus
• Contributors: Alberto Soragna

2.0.0 (2022-07-01)

1.2.4 (2022-03-09)

• small comments cleanup
• Add action for audio sequence
• Contributors: Justin Kearns, Steven Shamlian

1.2.3 (2022-03-04)

• Remove _t in uint16_t and add notes to cmake
• Add vector of notes message. Match LedColor and have header info included in the sequence of notes only
• Add std_msgs/Header for future
• Add message to play audio note
• Fix wrong link in README.md
• change to buildtool_depend
• Without this change, raspian buster compile complained it couldn't find rosidl_default_generators
• Fix documentation
• Update documentation for pwm
• Contributors: Alberto Soragna, Jonathan Dorich, Justin Kearns, jdorich14

1.2.2 (2021-12-02)

• Add documentation for WheelStatus
• Add message for WheelStatus and translate direction for DriveArc action
• Contributors: Justin Kearns

1.2.1 (2021-11-24)

• Add dist to goal feedback
• use translation max for drive arc
• add optional max speed parameters
• Add actions for API used by Root Coding robot
• Documentation updates Minor grammatical and typographical changes. Also removed an unplanned command.
• update package.xml with new license
• update license to BSD-3
• Contributors: Alberto Soragna, Justin Kearns, Steven Shamlian

1.2.0 (2021-10-01)

• bump version to 1.2.0
• Add CODEOWNERS file
• Add issue templates
• Initial import of irobot Create3 messages
• Initial commit
• Contributors: Alberto Soragna