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LAUNCH.md

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Running the driver

Setup

  1. After compiling from source, don't forget to source your workspace:

    source ~/create_ws/devel/setup.bash

  2. Connect computer to Create's 7-pin serial port

  3. Launch one of the existing launch files or adapt them to create your own.

Launch files

For Create 2 (Roomba 600/700 series):

roslaunch ca_driver create_2.launch

Launch file arguments

  • config - Absolute path to a configuration file (YAML). Default: ca_driver/config/default.yaml
  • desc - Enable robot description (URDF/mesh). Default: true

For example, if you would like to disable the robot description and provide a custom configuration file:

roslaunch ca_driver create_2.launch config:=/abs/path/to/config.yaml