iRobot Create 1 Support

[Guofeng-Tang]

I am using iRobot Create 1 this time, but the driver doesn't seem to support Create 1 very well, seems like it is a known issue that Create 1 odometry is very unusable. (AutonomyLab/create_robot#41, https://answers.ros.org/question/31935/createroomba-odometry/)

Create 1 can actually handle hector mapping very well, but not amcl navigation without the proper odom messages, is there a way to solve this problem? Thanks in advance.

[7675t]

This package uses create_node, not create_autonomy for controlling Roomba. Plese check the launch file.

And yes, iRobot create and Roomba produce bad odometry. I think that's why turtlebot_node.py calculate the odometry by itself.

Though I'm not sure about Create (I don't have it), if your Create publish correct /joint_states, I think this code should work well also for Create.

[mzahana]

@Stephen-Tang I am facing issues with odom on iRobot Create 1. Have you found a solution. Have you found a solution to the odom problem?

[Guofeng-Tang]

No, I have not.

…

On Tue, 21 Nov 2017 at 3:16 AM, Mohamed Abdelkader Zahana < ***@***.***> wrote: @Stephen-Tang <https://github.com/stephen-tang> I am facing issues with odom on iRobot Create 1. Have you found a solution. Have you found a solution to the odom problem? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#8 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AYOvzFM04EFHy2D0BnnM9crq8mn2U-tMks5s4c_8gaJpZM4Ovf06> .