Thanks for your input on this matter.

I have a driver for Player for the Roomba 500 Open Interface. It is divided
in 2 layers, the Player driver class and the Open Interface class, both in
C++. I would like to use my Open Interface class with a new class on top
that I will write by taking a look at your icreate driver for the ROS
specific stuff.

I'll be working on this throughout the week, once I have something working
I'll share with everyone.

So far we have identified 3 types of interfaces for Roombas.

1) Roomba Serial Control Interface (SCI) for the Roomba 4xx series.
http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf

2) Roomba Open Interface (OI) for the Roomba 5xx series. We use these here
(540 and 560).
http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf

3) Create Open Interface
http://www.irobot.com/filelibrary/pdfs/hrd/create/Create%20Open%20Interface_v2.pdf

I'm not sure how popular Roombas are among the ROS community, but it would
probably be a plus to have a node for the Roomba and Create robots.

Gonçalo Cabrita
ISR - University of Coimbra
Portugal


On Fri, May 14, 2010 at 5:39 PM, Trevor Jay <tjay@cs.brown.edu> wrote:

> > Trevor, could you confirm or suggest the best way to move forward for
> > Roomba support?
> >
>
> I'm not completely familiar with the Roomba's interface, but you
> should only have to modify create.py . You'll need to redefine the
> format of the sensor messages (lines 48-73) appropriately and you'll
> need to change each of the __sendNow calls to use Roomba equivalents.
>
> It shouldn't be too difficult. If we can help further, just let us
> know. Of course we'd be be interested in seeing your patch too.
> Ideally, a flag could be added to switch between the Create and
> Roomba.
>
> _Trevor
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