General questions about a particular application of Create 3 #100

MendelTheRobot · 2022-07-03T02:18:31Z

MendelTheRobot
Jul 3, 2022

I am having significant difficulty getting my Create 3 to reliably travel on straight path, turn, and return to its starting position. All I want is to be able to run a mission repeatedly without having to worry about the robot wandering off and crashing into something. Even on flat surfaces I am having this problem. Does anyone know how to get it to travel in straight lines, and precise turns, and reliably come back to the starting point? I have been told it may be to inaccuracies with the gyroscope, is there an easy way to fix this? Do I need to get a better gyroscope, if so, how difficult is that to get to work? Is there something I can do with python or somehow calibrate the existing gyroscope in the Create 3? Do I need lidar? I'm pretty new to robotics, so if you have any technical solutions, please provide instructions! Thanks!

justinIRBT · 2022-07-03T07:49:22Z

justinIRBT
Jul 3, 2022
Maintainer

How are you commanding the robot to drive? If you are using the NavigateToPosition action server, it isn't tuned to exactly achieve the positions. You could write your own controller to command velocity based on robot position that attempts to achieve the positions more accurately with longer times to achieve convergence with a very small error. The Create3 is combining wheel odometry, gyro, and a mouse sensor that provides a fairly accurate local coordinate system, but any local coordinate system will drift over time as there is accumulating error in the estimates for wheel odometry, mouse, and gyro. If you are looking for a coordinate system that will stay consistent over time, you will need a localization system. While there are many sensor technologies you can implement a localization system with, lidar is one of the most common and easiest approaches to create a map and localize in it.

0 replies

MendelTheRobot · 2022-07-04T21:32:34Z

MendelTheRobot
Jul 4, 2022
Author

Hi Justin, I am using level 2 on the iRobot coding program on the computer. I took a few pictures to help illustrate my problem. I am just running it in straight lines and turning around. [cid:f1023f06-b1b4-48ce-a215-86d9d769a780] This is my initial starting position. I think if it went completely straight, it would arrive back at this position every time [cid:9aaa21a7-20be-4938-93d5-d041d682ec44] After only 4 runs, it's angle had already changed by this much, [cid:29f7e9df-1e7a-41bc-8e0c-4863804c441d] Unfortunately, I do not know very much about coding, and "writing my own controller" or "implementing lidar" are a bit above my reach at this point. If I bought a SLAMtec RPLidar A1M8 Lidar Sensor, would that fix the problem? Would that give it obstacle avoidance abilities as well? Would you be able to instruct me how to set this up, or sent me some directions? The way it is now, without the ability to drive repeatable missions, it just crashes into things, keeps going for a while, and then turns and charges in a random direction. My eventual goal is to get a small team of about 2-4 robots to be the "legs" of a larger robot which will be able to move around and grab things off of a countertop. Do you have a guide to set up coordinated movement of small teams of Create 3's? Obviously, the ability to move in a defined path accurately and precisely will be key to such a project. Also, I was wondering, given that that's my goal, is there a way to control multiple robots with a single Lidar unit, or would that require four different units for each of the four robots? It would be cool if I could achieve some of the complicated things that turtlebot 4 can do, like joystick control and obstacle avoidance, but for at least the forseeable future, just getting the create 3 to perform repeatable missions is my goal. Lastly, is there a certain program you have to run to get the Create 3 to dock by itself, or can it even do that? Thanks, so far the Create 3 has been a pretty good product, but I am just trying to see what it can really do. - Noah Farris

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________________________________ From: Justin Kearns ***@***.***> Sent: Sunday, July 3, 2022 2:49 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. How are you commanding the robot to drive? If you are using the NavigateToPosition action server, it isn't tuned to exactly achieve the positions. You could write your own controller to command velocity based on robot position that attempts to achieve the positions more accurately with longer times to achieve convergence with a very small error. The Create3 is combining wheel odometry, gyro, and a mouse sensor that provides a fairly accurate local coordinate system, but any local coordinate system will drift over time as there is accumulating error in the estimates for wheel odometry, mouse, and gyro. If you are looking for a coordinate system that will stay consistent over time, you will need a localization system. While there are many sensor technologies you can implement a localization system with, lidar is one of the most common and easiest approaches to create a map and localize in it. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3071937&data=05%7C01%7Cnoah.farris%40siu.edu%7C9380a050960c4229a14f08da5cc8914e%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637924313763515455%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=lZwxj05Kl4w8xZeFxHxxh2sT7AofodS5SqC8UubgUrA%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUASIZI7K5BJKHWWQKILVSFAYZANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7C9380a050960c4229a14f08da5cc8914e%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637924313763515455%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=MilIjs%2F0TvjrZIzxtuVctGOAdsZV%2FZlTcBWddDK6PKw%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

2 replies

justinIRBT Jul 5, 2022
Maintainer

The pictures aren't showing up for me. Are you using the navigate to: widget or the move then the turn widget? The navigate to widget between 0,0 and 100,0 back and forth (driving 1m forward and backward) will keep the robot position consistent longer than doing move 100 then turn 180 then move 100 back and forth. That being said, the robot's local coordinate system will drift over time, so it still won't be a solution for you for many runs.

Regarding the LIDAR, we have an example here:
https://github.com/iRobotEducation/create3_examples/tree/galactic/create3_lidar
That uses the Slamtec RPLidar A1M8. This example will get you as far as creating a map using the Lidar and the Slam Toolbox package. You will have to read more about the Slam Toolbox package to understand how to save the map and localize in it. The Lidar can give obstacle avoidance within the plane that the laser is in (example, seeing walls), but it will not see obstacles above and below the laser plane. To get obstacle avoidance with navigation, the most common framework to use in ROS 2 is the Nav2 Package. In general, to do these more advanced things, you will need to switch from the Level 2 iRobot coding app to development in ROS 2, Create 3 Examples is a good place to start to switch over to developing applications in ROS 2. From there you will have to dive into larger community packages in the ROS 2 ecosystem, such as Nav2 and Slam Toolbox referenced above.

Regarding your eventual goal of multiple coordinated robots to be multiple legs of a single robot, I believe it to be feasible, but will be an involved project. I think you theoretically could accomplish it with 1 Raspberry Pi 4 and 1 Lidar. If you want to use the more reliable hard wired USB connection for all Creates, you would plug in 1 Raspberry 4 via the standard Raspberry Pi 4 USB hookup example here:
https://iroboteducation.github.io/create3_docs/hw/hookup/
then the other ones would have to attach via the USB to Ethernet converter used in the Raspberry Pi 3 hookup example. If you are doing the 4 robots, you would have to use an ethernet switch to get them all on the same network. With 4 robots on the same network, you would have to configure them with different namespaces so they don't stomp on each others topics, see more about that here: https://iroboteducation.github.io/create3_docs/setup/multi-robot/
At that point, you will have the Raspberry Pi 4 talking to the 4 robots then you would need to coordinate the motion control between the 4 robots. You would need to write a controller that commanded velocity on the /namespace/cmd_vel topic to the 4 robots while monitoring the /namepace/odom topic of each robot to make sure they were staying in sync and compensating the command velocity of a robot that was falling behind from comms or slipping, etc... It would be a non trivial problem, so I would build up to it with ROS2 basics on one robot before you try to deal with that. You would need to feed the nav2 command output into your controller that managed the coordination of the 4 robots. You would also need to feed a single odometry state into the slam toolbox and nav2 stack, that will also need to be derived from the position of your 4 robots. With that cmd/state aggregation controller, you should be able to use the single lidar + raspberry pi 4 system to control the robot.

The Create3 has a ROS 2 action to dock itself. The dock needs to be visible to the robot to trigger this action. You can see an example of sending that action using the command line tools here:
https://iroboteducation.github.io/create3_docs/examples/actuators-cli/
See the Docking example. You can also use that CLI example to Navigate To Position for the first example up above.

shamlian Jul 18, 2022
Maintainer

These images aren't showing up for me, either. I'm not sure how you added them, but here is GitHub's documentation on attachments.

MendelTheRobot · 2022-07-14T04:11:37Z

MendelTheRobot
Jul 14, 2022
Author

Hi, I haven't been able to do everything you said I should look into yet, however I did purchase a Slamtec RP Lidar A1M8 and am considering buying a Raspberry Pi 4. Do you have any suggestions about which RAM I would need? They have options for 1GB, 2GB, 4GB, and 8GB. I am thinking I will probably downsize to only two Create 3's. I am also trying to eventually coordinate the commands of a robot arm and the Create 3's from a central page, which I guess should be ROS 2, correct? I have been having connection issues with my Create 3 and have not been able to try your suggestion for navigation. Could the number of tabs I have open on my computer affect this? I am able to connect to the robot's internet and pair to it, however it still sometimes doesn't register the instructions. Do 2 Create 3's have sufficient batteries to power a Raspberry Pi 4, a Lidar sensor, a kindle tablet and a robot arm?

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1 reply

shamlian Jul 18, 2022
Maintainer

If you're using BLE (iRobot Python Web Playground / iRobot Coding) to connect to your robot, you will need to keep the tab doing the communication active, or else the browser will not service the communications properly.

No idea if you have enough RAM for however many tabs you've got open, in the case that you're concerned about that.

You'll have to do the current and power calculations yourself; please read all three electrical pages in the docs. Keep in mind continuous and peak currents, as well as overall power, and desired runtime.

MendelTheRobot · 2022-07-17T21:12:37Z

MendelTheRobot
Jul 17, 2022
Author

I think Raspberry Pi 4's are completely out of stock everywhere, is there an alternative?

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________________________________ From: Farris, Noah T ***@***.***> Sent: Wednesday, July 13, 2022 11:11 PM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Hi, I haven't been able to do everything you said I should look into yet, however I did purchase a Slamtec RP Lidar A1M8 and am considering buying a Raspberry Pi 4. Do you have any suggestions about which RAM I would need? They have options for 1GB, 2GB, 4GB, and 8GB. I am thinking I will probably downsize to only two Create 3's. I am also trying to eventually coordinate the commands of a robot arm and the Create 3's from a central page, which I guess should be ROS 2, correct? I have been having connection issues with my Create 3 and have not been able to try your suggestion for navigation. Could the number of tabs I have open on my computer affect this? I am able to connect to the robot's internet and pair to it, however it still sometimes doesn't register the instructions. Do 2 Create 3's have sufficient batteries to power a Raspberry Pi 4, a Lidar sensor, a kindle tablet and a robot arm?

1 reply

shamlian Jul 18, 2022
Maintainer

Any single board computer that you can compile ROS 2 on (or that you can install Ubuntu 20.04 on) will work.

MendelTheRobot · 2022-07-18T20:28:37Z

MendelTheRobot
Jul 18, 2022
Author

If I could get a raspberry pi with 2gb ram would that work for this purpose? That’s all I am able to find right now. There is a worldwide chip shortage

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________________________________ From: Steven Shamlian ***@***.***> Sent: Monday, July 18, 2022 7:06 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. These images aren't showing up for me, either. I'm not sure how you added them, but [here}(https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files) is GitHub's documentation on attachments. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3171082&data=05%7C01%7Cnoah.farris%40siu.edu%7Cdc438118122144cf47f808da68b5f524%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937427962788703%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=YrvDg0FYF08h9TzCD2t%2BS5A0roHrCy2iG3Ik0L8MzvU%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAXDBM5UQX7VKAV3UDLVUVCETANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Cdc438118122144cf47f808da68b5f524%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937427962788703%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=JtGvYHmsJ8xvPVZwr8KR%2BiCyUWEVjTXMZSMzHcqhOO4%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

2 replies

shamlian Jul 18, 2022
Maintainer

I can tell you that you will be able to use a Raspberry Pi 4 with 2 GB of RAM to drive your robot around, but I can't speak to the processor or memory requirements of your design. Likely, it will work, at least until you need something more powerful.

alsora Jul 18, 2022
Maintainer

Yes, simple ROS 2 applications will run with no problems on a raspberry pi 4 with 2gb of ram.
You should be able to run the navigation stack with a small lidar sensor pipeline.

MendelTheRobot · 2022-07-24T06:02:15Z

MendelTheRobot
Jul 24, 2022
Author

Hi again, I found an option for an 8gb raspberry pi 4b. That would be the best thing to get, right? If I get that, and I already have the rplidar a1, should the robot finally be able to travel perfectly straight lines, or somehow find its way back to the charger? All I want is to be able to send the robot on a mission, and it be accurate enough to go exactly where I tell it and return to the charge and to be able to do this an infinite number of times without worrying that it will take off in a random direction. If I get the raspberry pi 4 b 8gb and the rplidar a1 and hook them up correctly, will I be able to do this? I’ll need the nab 2 thing also, right? This is getting kind of expensive and I want to make sure it will work. If I am trying to run two conjoined create 3s off of the same LiDAR as you seemed to think was possible, are you sure that one raspberry pi will be all I need or will I need another one? There is an intense shortage of raspberry pi’s right now, so I need to make sure I get everything I need.

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________________________________ From: Alberto Soragna ***@***.***> Sent: Monday, July 18, 2022 4:49 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. Yes, simple ROS 2 applications will run with no problems on a raspberry pi 4 with 2gb of ram. You should be able to run the navigation stack with a small lidar sensor pipeline. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3175285&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=tMNlG07Og%2BlK9uni%2FWSGs3oAfGnMxuoz9P8JPBRF%2FeE%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAR2QEEGWPJRYFNLHDDVUXGQHANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=22tCXJ%2BTgzEco1HJkwIPUKEdK38XUqjwHPJVLaJpUnk%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

0 replies

MendelTheRobot · 2022-08-09T17:45:08Z

MendelTheRobot
Aug 9, 2022
Author

Hi again, I got a raspberry pi 8gb board and A1 M8 Slamtec RPLIDAR scanner, and have connected them to the create 3 adapter boards via usb-c to usb-c cable as per your advice and it correctly powers the add-ons. I downloaded the Robostudio from Slamtech, but haven't been able to do any mapping yet. Could you help me understand how to download the SLAM toolbox, NAV 2 package, and ROS 2? I attempted, but the resources available are not very beginner-friendly and I was quickly lost.

…

________________________________ From: Farris, Noah T ***@***.***> Sent: Sunday, July 24, 2022 1:02 AM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Hi again, I found an option for an 8gb raspberry pi 4b. That would be the best thing to get, right? If I get that, and I already have the rplidar a1, should the robot finally be able to travel perfectly straight lines, or somehow find its way back to the charger? All I want is to be able to send the robot on a mission, and it be accurate enough to go exactly where I tell it and return to the charge and to be able to do this an infinite number of times without worrying that it will take off in a random direction. If I get the raspberry pi 4 b 8gb and the rplidar a1 and hook them up correctly, will I be able to do this? I’ll need the nab 2 thing also, right? This is getting kind of expensive and I want to make sure it will work. If I am trying to run two conjoined create 3s off of the same LiDAR as you seemed to think was possible, are you sure that one raspberry pi will be all I need or will I need another one? There is an intense shortage of raspberry pi’s right now, so I need to make sure I get everything I need.

________________________________ From: Alberto Soragna ***@***.***> Sent: Monday, July 18, 2022 4:49 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. Yes, simple ROS 2 applications will run with no problems on a raspberry pi 4 with 2gb of ram. You should be able to run the navigation stack with a small lidar sensor pipeline. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3175285&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=tMNlG07Og%2BlK9uni%2FWSGs3oAfGnMxuoz9P8JPBRF%2FeE%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAR2QEEGWPJRYFNLHDDVUXGQHANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=22tCXJ%2BTgzEco1HJkwIPUKEdK38XUqjwHPJVLaJpUnk%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

3 replies

shamlian Aug 9, 2022
Maintainer

Some folks have had success following the Turtlebot 4 guide, though we haven't tried it and don't support it. Have you looked in any of the other question threads? A tutorial from us is coming, but is not ready, yet.

justinIRBT Aug 9, 2022
Maintainer

See the create3_lidar example here https://github.com/iRobotEducation/create3_examples/tree/galactic/create3_lidar for a basic getting started with using the LiDAR. More advanced stuff will have to be found in the ROS2 ecosystem, like slam toolbox and Nav2 documentation

shamlian Aug 9, 2022
Maintainer

FWIW, you can map to your heart's content with lidar using that tutorial, but you can't use the map to navigate without using something like nav2 (or writing something yourself).

MendelTheRobot · 2022-08-09T17:47:08Z

MendelTheRobot
Aug 9, 2022
Author

Also, I was trying to follow the github guide for installing the lidar, but it kept mentioning a sbc without explaining the acronym so I got lost there too.

…

________________________________ From: Farris, Noah T ***@***.***> Sent: Tuesday, August 9, 2022 12:45 PM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Hi again, I got a raspberry pi 8gb board and A1 M8 Slamtec RPLIDAR scanner, and have connected them to the create 3 adapter boards via usb-c to usb-c cable as per your advice and it correctly powers the add-ons. I downloaded the Robostudio from Slamtech, but haven't been able to do any mapping yet. Could you help me understand how to download the SLAM toolbox, NAV 2 package, and ROS 2? I attempted, but the resources available are not very beginner-friendly and I was quickly lost.

________________________________ From: Farris, Noah T ***@***.***> Sent: Sunday, July 24, 2022 1:02 AM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Hi again, I found an option for an 8gb raspberry pi 4b. That would be the best thing to get, right? If I get that, and I already have the rplidar a1, should the robot finally be able to travel perfectly straight lines, or somehow find its way back to the charger? All I want is to be able to send the robot on a mission, and it be accurate enough to go exactly where I tell it and return to the charge and to be able to do this an infinite number of times without worrying that it will take off in a random direction. If I get the raspberry pi 4 b 8gb and the rplidar a1 and hook them up correctly, will I be able to do this? I’ll need the nab 2 thing also, right? This is getting kind of expensive and I want to make sure it will work. If I am trying to run two conjoined create 3s off of the same LiDAR as you seemed to think was possible, are you sure that one raspberry pi will be all I need or will I need another one? There is an intense shortage of raspberry pi’s right now, so I need to make sure I get everything I need.

________________________________ From: Alberto Soragna ***@***.***> Sent: Monday, July 18, 2022 4:49 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. Yes, simple ROS 2 applications will run with no problems on a raspberry pi 4 with 2gb of ram. You should be able to run the navigation stack with a small lidar sensor pipeline. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3175285&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=tMNlG07Og%2BlK9uni%2FWSGs3oAfGnMxuoz9P8JPBRF%2FeE%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAR2QEEGWPJRYFNLHDDVUXGQHANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce327e7d75eba4eeb24d108da690773d5%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637937778004108394%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=22tCXJ%2BTgzEco1HJkwIPUKEdK38XUqjwHPJVLaJpUnk%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

3 replies

shamlian Aug 9, 2022
Maintainer

Thanks for this piece of feedback and apologies for the TLA; I'll get right on fixing that.

MendelTheRobot Aug 9, 2022
Author

Hi if NAV 2 and ROS 2 will be needed, is there any way someone could help walk me through that? If you are working on a guide for this issue specifically, do you know when it will be released? @justinIRBT I tried following that guide but didn't know what an sbc is. Is there a way you can control the robot through the raspberry pi, or just the create 3. Do you have or know of any simple guides for starting ros 2 ?

shamlian Aug 9, 2022
Maintainer

I have already updated the LIDAR tutorial to explain that SBC stands for "Single Board Computer" since the instructions would work just as well on any SBC running Ubuntu and ROS Galactic. I would suggest following that tutorial to see if you can generate a map; I do not have a timeline for you on a navigation tutorial.

Rebecca-iRobot · 2022-08-09T20:45:35Z

Rebecca-iRobot
Aug 9, 2022
Maintainer

Hi there! This is a bit unrelated to the main question in this thread, but when I began using the Create 3, I was a complete beginner with ROS 2, Linux and Raspberry Pi's. I looked around online, and I found the below course EXTREMELY helpful in getting some basic understanding of ROS 2 and what I could use it for. The construct has tons of resources available for free on the subject, and a few of them can be used to understand mapping and other project goals that you've referenced here!

https://youtu.be/LUL_1xh3R4M
https://app.theconstructsim.com/#/Desktop
"During the ROS2 Learning Week you will get the foundations of ROS2.

On Day 1 you will learn basic Linux concepts that are essential for ROS2 programming.
On Day 2 you will learn basic Python3 programming skills required to create ROS2 programs.
On Day 3 you will learn the basics of ROS2: how to create and compile packages, what are launch files, ROS2 nodes, etc.
On Day 4 you will learn about ROS2 topics, which are the basis for any ROS2 program.
On Day 5 you will apply everything you’ve learned to a ROS2 project based on a simulated robot.

Related courses & tutorials:

Here's also an Open Class that they offered to cover Nav2 with SLAM: https://www.youtube.com/watch?v=rZOxPGCn4QM

0 replies

MendelTheRobot · 2022-08-18T01:51:12Z

MendelTheRobot
Aug 18, 2022
Author

Hi iRobot, I have made it to the SBC setup step of the LIDAR SLAM Demo but am stuck after that. Do I need to have a display and keyboard for my raspberry pi for this to work, or can I just somehow hook it to my laptop? I have the latest version of python installed on my computer, but don't know how to get that on the raspberry pi, if that's what I need to do. Is ROS 2 just a python command or do I need to download it somehow? [cid:4c07f552-585a-408d-9593-1b0853a2f7ff] I am also having a hard time getting my Create 3 to connect to python via the iRobot Education - Python Web Playground<https://python.irobot.com/>. I think my computer is connected to Bluetooth, (see below image), [cid:01ad29f6-d8d0-49b2-847f-ec1ce4c97f60] but it still won't let me connect. Am I doing this correctly? Thanks. [cid:471e4048-257a-4e06-a22a-11d0e1d03a4e]

…

________________________________ From: Farris, Noah T ***@***.***> Sent: Tuesday, August 9, 2022 4:24 PM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Thanks Rebecca, I'll give it a shot...

3 replies

shamlian Aug 18, 2022
Maintainer

Not sure how you're attaching images, but they're not showing up. I think you're attaching them to an email? That won't work.

shamlian Aug 18, 2022
Maintainer

You don't need to attach a display and keyboard to your Raspberry Pi. The Pi will broadcast the map to your laptop running ROS 2 and rviz.

shamlian Aug 18, 2022
Maintainer

The SLAM demo won't talk to your Raspberry PI over USB with the adapter board in Bluetooth mode (I can see you're in Bluetooth mode since the blue light is on), but it will talk if the Pi and robot and your laptop are all on the same Wi-FI network.

MendelTheRobot · 2022-08-18T14:17:13Z

MendelTheRobot
Aug 18, 2022
Author

![image](https://user-images.

githubusercontent.com/105609730/185416252-92777ce9-e74a-4b4a-99d4-a8432b70dced.png)

I don't know how to add a picture, I tried saving it and attaching it, and dragging and dropping it here, but I don't think it worked. Just know that I 3d printed and attached the LIDAR connector parts and have the lidar and raspberry pi connected to the robot and working. I also see the blue light working, which indicates the create 3 is in Bluetooth mode. If you have any suggestions about the images, let me know.

0 replies

MendelTheRobot · 2022-08-18T14:17:40Z

MendelTheRobot
Aug 18, 2022
Author

did that work?

2 replies

shamlian Aug 18, 2022
Maintainer

I think it sort-of worked. You posted the same image of the top of your robot with an RPLidar twice. Note that if you want to use the canned RPLidar example we wrote, you have to mount it exactly as shown on the page (which you have not done). https://github.com/iRobotEducation/create3_examples/tree/galactic/create3_lidar

shamlian Aug 18, 2022
Maintainer

The image did not show up for your difficulty connecting to python.irobot.com.

MendelTheRobot · 2022-08-18T14:26:29Z

MendelTheRobot
Aug 18, 2022
Author

how do I get the raspberry pi on the same wifi network? do I need to turn bluetooth mode off then? I thought I needed bluetooth on to control the robot through python.

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 9:22 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. The SLAM demo won't talk to your Raspberry PI over USB with the adapter board in Bluetooth mode (I can see you're in Bluetooth mode since the blue light is on), but it will talk if the Pi and robot and your laptop are all on the same Wi-FI network. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3423450&data=05%7C01%7Cnoah.farris%40siu.edu%7Cae784bbcd52a4d122d6e08da81251f37%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964293683099224%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=0F4d%2BPDRHas3bawZe6sss7y7hcSk0StCM%2Ba1vvvWoXA%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAXUO7DR7JUEETTXFBTVZZBLNANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Cae784bbcd52a4d122d6e08da81251f37%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964293683099224%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=h2T5yAlOzHYovpOJ2m1PC0s%2ByuN2hMUJfIn8paVtRzY%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 18, 2022
Maintainer

Yes, you need Bluetooth on to control the robot through Python.

You should have connected the Raspberry Pi to your Wi-Fi network when you set it up. There are numerous guides for putting a Raspberry Pi on a Wi-Fi network, and doing so is outside the scope of this forum. This is mentioned in passing in step 4 of our guide.

Similarly, you should have connected the Create 3 to your Wi-Fi network when you set it up as in this guide.

MendelTheRobot · 2022-08-18T14:27:55Z

MendelTheRobot
Aug 18, 2022
Author

what is incorrect about the way I set up the LIDAR, to me it looks the same as your example

1 reply

shamlian Aug 18, 2022
Maintainer

It's off by one row of holes.

MendelTheRobot · 2022-08-18T14:28:04Z

MendelTheRobot
Aug 18, 2022
Author

1 reply

shamlian Aug 18, 2022
Maintainer

Your computer's Bluetooth radio is not enabled.

MendelTheRobot · 2022-08-18T14:39:06Z

MendelTheRobot
Aug 18, 2022
Author

Ok, so I need to move it one row of holes closer to the on buttons, right? How do I turn on my bluetooth radio? So I will need to do the phase 3 connect to wifi for ros 2 users steps?

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 9:31 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. It's not in the same orientation or position relative to the rest of the robot... — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3423519&data=05%7C01%7Cnoah.farris%40siu.edu%7C5f0e0a63ed9e42debe3808da81265338%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964298850889662%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=N%2FEPu8%2FSZbzbv3R00IgN50gnI6chfwB44x56UiYZz9M%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUATYZ5EW2J5IXEMIMKLVZZCLVANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7C5f0e0a63ed9e42debe3808da81265338%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964298850889662%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=AxCnFpYFfARXS6lN%2BLgvaUCH6LKfYiN1HCUwp9znsJ4%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 18, 2022
Maintainer

I'm sorry, I can't help you with your Windows machine.

MendelTheRobot · 2022-08-18T14:41:53Z

MendelTheRobot
Aug 18, 2022
Author

Is there a way to permanently connect my robot to my computer so I don't have to connect it to wifi every time I use it, and thus lose my internet connection?

…

________________________________ From: Farris, Noah T ***@***.***> Sent: Thursday, August 18, 2022 9:38 AM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) Ok, so I need to move it one row of holes closer to the on buttons, right? How do I turn on my bluetooth radio? So I will need to do the phase 3 connect to wifi for ros 2 users steps?

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 9:31 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. It's not in the same orientation or position relative to the rest of the robot... — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3423519&data=05%7C01%7Cnoah.farris%40siu.edu%7C5f0e0a63ed9e42debe3808da81265338%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964298850889662%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=N%2FEPu8%2FSZbzbv3R00IgN50gnI6chfwB44x56UiYZz9M%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUATYZ5EW2J5IXEMIMKLVZZCLVANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7C5f0e0a63ed9e42debe3808da81265338%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964298850889662%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=AxCnFpYFfARXS6lN%2BLgvaUCH6LKfYiN1HCUwp9znsJ4%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 18, 2022
Maintainer

I don't understand. You should be connecting your robot to your Wi-Fi, just like you connect the computer to your Wi-Fi, just like you connect the Raspberry Pi to your Wi-Fi.

MendelTheRobot · 2022-08-18T14:51:04Z

MendelTheRobot
Aug 18, 2022
Author

?

0 replies

MendelTheRobot · 2022-08-18T14:59:27Z

MendelTheRobot
Aug 18, 2022
Author

Okay I moved it up, is that the correct position?

1 reply

shamlian Aug 18, 2022
Maintainer

Yes.

MendelTheRobot · 2022-08-18T16:58:40Z

MendelTheRobot
Aug 18, 2022
Author

I have an SD Card with pre-installed NOOBS, do I need to get a different card and install Ubuntu server, or will that card work?

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 10:05 AM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] Straight repeatable paths with Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. Yes. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3423855&data=05%7C01%7Cnoah.farris%40siu.edu%7Cc72f353ab9c34c346a0a08da812b164f%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964319319098381%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=u5BDEdIOP5MffXnpW66qXp%2FZPhRTHhLVgysjPkkSAmc%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAW6RNUICNZOZT4AFJ3VZZGLRANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Cc72f353ab9c34c346a0a08da812b164f%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964319319098381%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=GsEktExXZBklTRgDbHY1xC%2FLRYfDI03h%2F7bghghvqxU%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 18, 2022
Maintainer

My understanding is that NOOBS is a launcher, not an operating system. If you are trying to install on Raspberry Pi's Debian fork, I suspect you will have to build ROS 2 from source, but I don't know, and I won't be able to help with that. You'll have to look at the ROS 2 Discourse forums to see if anyone has successfully installed Galactic.

I suspect you would make it much easier on yourself, though, if you follow the tutorials on the docs site as they are written/videoed, especially if you've never done any of this, before.

MendelTheRobot · 2022-08-18T17:22:31Z

MendelTheRobot
Aug 18, 2022
Author

Ok, so I'll just get another sd card then?

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 12:06 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] General questions about a particular application of Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. My understanding is that NOOBS is a launcher, not an operating system. If you are trying to install on Raspberry Pi's Debian fork, I suspect you will have to build ROS 2 from source, but I don't know, and I won't be able to help with that. You'll have to look at the ROS 2 Discourse<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdiscourse.ros.org%2F&data=05%7C01%7Cnoah.farris%40siu.edu%7C279e0db4e63a4469151d08da813c0247%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964391983771420%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=HxFJp4guBpI%2FWPwi2Fxktb%2BGRQNi3n02dwdN82gRhF4%3D&reserved=0> forums to see if anyone has successfully installed Galactic. I suspect you would make it much easier on yourself, though, if you follow the tutorials on the docs site as they are written/videoed, especially if you've never done any of this, before. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3424818&data=05%7C01%7Cnoah.farris%40siu.edu%7C279e0db4e63a4469151d08da813c0247%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964391983771420%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=SZInUhAT5YWzAkwkoPNNk9x4XQ7%2BCbr88qSla35Ke8M%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAUJOYPXORPVAY5AOSTVZZURXANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7C279e0db4e63a4469151d08da813c0247%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964391983927654%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=lJHp1EijgpnXBNvfJHjhGqtiEvubrAr5f6c2jGp98X4%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 18, 2022
Maintainer

That's completely up to you -- if you want to preserve whatever is on that card, then you'll have to get another card; otherwise, you could back that card up first and then overwrite it.

MendelTheRobot · 2022-08-21T16:49:41Z

MendelTheRobot
Aug 21, 2022
Author

Hi Steven, do you know how to open a "file manager" on a windows laptop? I got through the first steps of setting up the raspberry pi to connect to internet to control the Create 3 but did not know what a file manager is or how to open one. Thanks [cid:cefdfeba-fd6d-4fa4-b670-8b077a40d3be]

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 12:23 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] General questions about a particular application of Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. That's completely up to you -- if you want to preserve whatever is on that card, then you'll have to get another card; otherwise, you could back that card up first and then overwrite it. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3425469&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce406a6ddfca3489965ce08da813e6fd8%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964402408723575%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=SDrF8TULf4BrKX3h95TyLpw%2FJGH0BUZW%2BW0qm%2FCNjEA%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAQZGYW4N5X2655E33LVZZWS5ANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce406a6ddfca3489965ce08da813e6fd8%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964402408723575%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=b4h8GcOc1Hude%2BrAvHWDcMtIwc6kwvFK%2F%2BqXhKYklpE%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

2 replies

shamlian Aug 22, 2022
Maintainer

This article is all about file managers. I’d like to encourage you to search the Internet to figure out the name of the default file manager in Windows. It may even be mentioned in the article.

shamlian Aug 23, 2022
Maintainer

In case you've not yet found it: the file manager in Windows is called "File Explorer." In OS X, it's "Finder." In Ubuntu, it's "Files."

MendelTheRobot · 2022-08-22T22:11:48Z

MendelTheRobot
Aug 22, 2022
Author

?

…

________________________________ From: Farris, Noah T ***@***.***> Sent: Sunday, August 21, 2022 11:49 AM To: iRobotEducation/create3_docs ***@***.***> Subject: Re: [iRobotEducation/create3_docs] General questions about a particular application of Create 3 (Discussion #100) Hi Steven, do you know how to open a "file manager" on a windows laptop? I got through the first steps of setting up the raspberry pi to connect to internet to control the Create 3 but did not know what a file manager is or how to open one. Thanks [cid:cefdfeba-fd6d-4fa4-b670-8b077a40d3be]

________________________________ From: Steven Shamlian ***@***.***> Sent: Thursday, August 18, 2022 12:23 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] General questions about a particular application of Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. That's completely up to you -- if you want to preserve whatever is on that card, then you'll have to get another card; otherwise, you could back that card up first and then overwrite it. — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3425469&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce406a6ddfca3489965ce08da813e6fd8%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964402408723575%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=SDrF8TULf4BrKX3h95TyLpw%2FJGH0BUZW%2BW0qm%2FCNjEA%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUAQZGYW4N5X2655E33LVZZWS5ANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7Ce406a6ddfca3489965ce08da813e6fd8%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637964402408723575%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=b4h8GcOc1Hude%2BrAvHWDcMtIwc6kwvFK%2F%2BqXhKYklpE%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

shamlian Aug 22, 2022
Maintainer

Please don’t send single punctuation mark messages. It’s not helpful for anyone, and just adds noise to the discussion.

Rebecca-iRobot · 2022-08-23T02:55:05Z

Rebecca-iRobot
Aug 23, 2022
Maintainer

Hi Noah,

I want to make sure that you've had a chance to watch the entire official setup video for the Create 3. This walks through crucial steps such as firmware update, connecting to Wi-Fi, faceplate removal, installing ROS 2 on your computer, and calling your first ROS 2 commands.

Regarding Raspberry Pi setup, my recommendations below are in reference to the official Create 3 Advanced Documentation Site

Step 1: Download Ubuntu® Server 20.04 64-bit and write onto a microSD card.

First, I connect the microSD card to my laptop with an SD card reader.
My favorite way to load Ubuntu onto an SD card is with Raspberry Pi imager. You can see a person demonstrate this in this tutorial on youtube from 0:00-2:00.
Once Ubuntu has been loaded onto the card, eject it from your computer and then plug it back into your computer to edit some of the files you just created.

Steps 2-4: These steps instruct you to edit a series of files in the system-boot partition.

For me, this looked like opening the microSD card on my computer (like I would open a flash drive or a folder). Next, I find the specified files and open them with TextEdit (or the Windows equivalent of a plain text editor) followed by pasting in the updates and saving the files.
Note that in Step 4, whichever Wi-Fi network you fill into the network-config file should be the same network you previously connected to your Create 3.

Step 5: Remove the faceplate from the Create 3. Change the switch on the Adaptor board from Bluetooth to USB mode.

Step 6: Insert the microSD card into the Raspberry Pi® 4, and then use a USB-C to USB-C cable to connect the Raspberry Pi® 4 to the Create® 3.
A photo of this connection can be found here. The first boot may take a few minutes.

NOTE: So far, we have been doing this "headless," meaning there is no external monitor connected to your Pi. For beginners, it can be nice to connect a monitor/ USB keyboard to the Pi so that you can easily check that your Wi-Fi connected properly and note your pi's IP address. This person has created a tutorial showing how to hook up an official Raspberry Pi keyboard/monitor/mouse, but most keyboards and monitors should do the trick (I use my television as a monitor!).

With a keyboard and monitor set up, you'll be able to easily find your Pi's IP address. This tutorial from 2:00-2:30 shows how to log into your pi.
Enter username ubuntu and password ubuntu. Note that the terminal will hide the characters as you type the password, so it will look like nothing is happening. Just hit 'enter' when you're done and it will log you in.
After logging in, you'll be prompted to update your password.
Next, you can type "ip addr show" and hit 'enter' to inspect the internet connection details. The IP address of your Pi should show in the section labeled eth0. It usually starts with 192.
After retrieving your Pi's IP address, you may disconnect the keyboard and monitor.

Step 7: SSH into your Raspberry Pi

Once you've gotten your pi's IP address, you're ready to log in remotely from your computer. This tutorial from 2:30-3:30 shows this step.
On your laptop, open Terminal. Log into your Pi by typing: ubuntu@[your pi's IP address]
Type 'yes' to add a key fingerprint.
Enter the Pi's new password when prompted.
You are now logged into your Raspberry Pi from your laptop. Keep this terminal window open, as you'll use it in the next section to install ROS 2 on the Pi.
Follow Steps 7-10 on https://iroboteducation.github.io/create3_docs/setup/pi4/ in the terminal of your computer. Take care to copy and paste each single line of code individually into terminal so as to ensure there are no errors. The Create 3 setup video covers these steps from 15:50-18:30. Just make sure to ignore the "Bridged Connection" instruction at 17:50, as this isn't relevant to your Raspberry Pi setup.

Step 10: If installation went smoothly, you should be able to type 'ros2 topic list' into terminal and see the following list:
/battery_state /cmd_audio /cmd_lightring /cmd_vel /dock /hazard_detection /imu /interface_buttons /ir_intensity /ir_opcode /kidnap_status /mouse /odom /parameter_events /rosout /slip_status /stop_status /tf /tf_static /wheel_status /wheel_ticks /wheel_vels

You should then be able to follow the last step in the Create 3 setup video from 18:30-19:20 where you send your first ROS 2 commands to dock/undock your robot.

Let me know if this works for you. If it's successful, I can provide instructions on how to run the teleop twist program on your create to drive it around a room with a keyboard.

0 replies

MendelTheRobot · 2022-08-28T05:22:50Z

MendelTheRobot
Aug 28, 2022
Author

Do you think the Amazon acquisition will effect iRobots Create 3 program?

…

________________________________ From: Steven Shamlian ***@***.***> Sent: Tuesday, August 23, 2022 12:30 PM To: iRobotEducation/create3_docs ***@***.***> Cc: Farris, Noah T ***@***.***>; Author ***@***.***> Subject: Re: [iRobotEducation/create3_docs] General questions about a particular application of Create 3 (Discussion #100) [EXTERNAL EMAIL ALERT]: Verify sender before opening links or attachments. In case you've not yet found it: the file manager in Windows is called "File Explorer." In OS X, it's "Finder." In Ubuntu, it's "Files." — Reply to this email directly, view it on GitHub<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Fcreate3_docs%2Fdiscussions%2F100%23discussioncomment-3458884&data=05%7C01%7Cnoah.farris%40siu.edu%7C5d097bcec1264e39d09308da852d2a17%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637968726284722850%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=9pU%2FGDBpahdkn6B3KgXm9Mn115hd7JPs6IgDiTejXgQ%3D&reserved=0>, or unsubscribe<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAZFXUATPSOUB3UBF6UH74SLV2UDDBANCNFSM52P54UMA&data=05%7C01%7Cnoah.farris%40siu.edu%7C5d097bcec1264e39d09308da852d2a17%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637968726284722850%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=o%2F9cr4v0IUNxvNvRZYfE4g0eJRmEQ7iJoaqpPdTQEog%3D&reserved=0>. You are receiving this because you authored the thread.Message ID: ***@***.***>

1 reply

Rebecca-iRobot Aug 29, 2022
Maintainer

Hi there! While we are unable to discuss details about the planned acquisition, it’s important to note that the deal has not closed, and iRobot and Amazon are continuing to operate independently 😄

MendelTheRobot · 2022-09-25T04:36:04Z

MendelTheRobot
Sep 25, 2022
Author

Hi Rebecca, I hope you are doing well. I am having a little bit of difficulty with Steps 2-4. I couldn't find the Ubuntu server 20.04.2, I think they updated to version 22.04.2, so I downloaded that and wrote it on the SD Card, and attempted to follow your instructions by ejecting and reinserting the SD Card. After that I kind of got lost in the weeds, could you help me with what to do next? I downloaded an app called "basic text editor" but I don't know what to do with it or where to go from here. Sorry for taking so long to reply, I have been super busy, but very much appreciate your expertly detailed setup guide. Thanks

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0 replies

Rebecca-iRobot · 2022-09-26T13:59:32Z

Rebecca-iRobot
Sep 26, 2022
Maintainer

Hi there! The instructions that I provided in this thread do require Ubuntu 20.04 to work correctly. You can use Raspberry Pi Imager to flash Ubuntu 20.04 onto your SD card following the instructions below:

Visit the Raspberry Pi Imager site and install the program onto your computer.
Open Raspberry Pi Imager and click on "Choose OS".

From the list, select "Other general purpose OS"

Select "Ubuntu"

Scroll in the list of releases to find Ubuntu 20.04

With Ubuntu 20.04 selected as your OS, click "Choose Storage" and select your inserted sd card.

Once the correct SD card is selected, click "Write" and the program will begin to write Ubuntu 20.04 onto your flashcard. Then you can proceed with the steps previously listed.

Another create user also just shared a very helpful tutorial, in case you'd like to follow their instructions as well!

0 replies

MendelTheRobot · 2022-10-03T14:22:11Z

MendelTheRobot
Oct 3, 2022
Author

Okay, I got that part done, would you mind sending me a more detailed guide for steps 2-4? I'm not sure what the Windows-equivalent of a plain text editor would beor how to paste code into it. Thanks for the help. PS Do you know anything about setting up slamtec's rplidar a1? I hooked it up as shown in the create 3 guide, but don't know how to actually use it, and when I tried contacting the company, I just got a few cryptic emails in chinese as a reply. Thanks again,

…

0 replies

Rebecca-iRobot · 2022-10-03T15:26:30Z

Rebecca-iRobot
Oct 3, 2022
Maintainer

Hi there! I suggest waiting to setting up the lidar camera until you have the raspberry pi setup. In my opinion, conquering the beginner tasks before jumping into advanced projects is the best way to approach learning new tech 😄

Since you asked for greater clarity on Steps 2-4 in the Connect Create® 3 to Raspberry Pi® 4 and set up ROS 2 Galactic tutorial:

Editing the System-Boot Partition:

Either on your desktop OR in your file menu, click on the title of your microSD card. This will open a menu all of the files saved on the SD card.
Edit usercfg.txt:
A. Find the file “usercfg.txt”. Right-click on the file name and select “Open with Notepad” (Windows Devices) or “Open with TextEdit” (Mac Devices)
B. With the usercfg.txt file open in your text editor, delete the file contents and replace with the text at this link: https://iroboteducation.github.io/create3_docs/setup/data/usercfg.txt
C. Save the edits to the file and then close it.
Edit cmdline.txt
A. Find the file “cmdline.txt”. Right-click on the file name and select “Open with Notepad” (Windows Devices) or “Open with TextEdit” (Mac Devices)
B. With the cmdline.txt file open in your text editor, delete the file contents and replace with the text at this link: https://iroboteducation.github.io/create3_docs/setup/data/cmdline.txt
C. Save the edits to the file and then close it.
Edit network-config
A. Find the file “network-config”. Right-click on the file name and select “Open with Notepad” (Windows Devices) or “Open with TextEdit” (Mac Devices)
B. With the network-config file open in your text editor, delete the file contents and replace with the text at this link: https://iroboteducation.github.io/create3_docs/setup/data/network-config.txt
C. Delete the # symbols from the following lines:

#wifis:
#  wlan0:
#    dhcp4: true
#    optional: true
#    access-points:
#      myhomewifi:
#        password: "S3kr1t"

D. Replace myhomewifi, with your wi-fi network name inside quotation marks (example: “yourhomenetwork”)
E. Replace the placeholder password s3kr1t with your home wi-fi network password inside quotation marks (example: “yourwifipassword”)
F: The file should now look something like this:

# This file contains a netplan-compatible configuration which cloud-init
# will apply on first-boot. Please refer to the cloud-init documentation and
# the netplan reference for full details:
#
# https://cloudinit.readthedocs.io/
# https://netplan.io/reference
#
# Some additional examples are commented out below

version: 2
ethernets:
  eth0:
    dhcp4: true
    optional: true
  usb0:
    dhcp4: false
    optional: true
    addresses: [192.168.186.3/24]
wifis:
  wlan0:
    dhcp4: true
    optional: true
    access-points:
      "yourhomenetwork":
        password: "yourwifipassword"
#      myworkwifi:
#        password: "correct battery horse staple"
#      workssid:
#        auth:
#          key-management: eap
#          method: peap
#          identity: "[email protected]"
#          password: "passw0rd"
#          ca-certificate: /etc/my_ca.pem

F. Save the edits to the file and then close it.

Now you may move onto Step 5 of the Connect Create® 3 to Raspberry Pi® 4 and set up ROS 2 Galactic tutorial

1 reply

Rebecca-iRobot Oct 3, 2022
Maintainer

I am also going to remind you of this tutorial: https://jimbobbennett.dev/blogs/irobot-create3-connect-a-pi/ which I feel is extremely detailed and complete with code examples

MendelTheRobot · 2022-10-11T09:15:25Z

MendelTheRobot
Oct 11, 2022
Author

Thanks Rebecca, I'll give it a shot...

…

0 replies

General questions about a particular application of Create 3 #100

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Editing the System-Boot Partition:

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