This is an announcement for create_autonomy, a ROS driver for the iRobot Create 1 and Create 2 (Roomba 400-800 series).

Based on iRobot's Open Interface Spec, it provides access to a variety of sensor information including wheel odometry, bumpers, light sensors, and button presses. There is also interfaces for controlling the various LEDs and invoking the built-in docking behaviour.

Documentation and source code can be found on GitHub: https://github.com/autonomylab/create_autonomy

Many additional features are planned for the near future, such as a sound interface and access to the brush/vacuum motors.

Hope you enjoy!

Jacob Perron

Autonomy Lab, Simon Fraser University