iRobot® Create® Platform interfaces

ROS 2 action, message, and service definitions used by the iRobot® Create® Platform.

For more information about ROS 2 interfaces, see index.ros2.org

Actions (.action)

• AudioNoteSequence: Play a given set of notes from the speaker for a given number of iterations.
• Dock: Command the robot to dock into its charging station.
• DriveArc: Command the robot to drive along an arc defined by radius.
• DriveDistance: Command the robot to drive a defined distance in a straight line.
• LedAnimation: Command the lights to perform specified animation.
• NavigateToPosition: Command the robot to drive to a goal odometry position using simple approach that rotates to face goal position then translates to goal position then optionally rotates to goal heading.
• RotateAngle: Command the robot to rotate in place a specified amount.
• Undock: Command the robot to undock from its charging station.
• WallFollow: Command the robot to wall follow on left or right side using bump and IR sensors.

Messages (.msg)

• AudioNote: Command the robot to play a note.
• AudioNoteVector: Command the robot to play a sequence of notes.
• Button: Status for a button.
• DockStatus: Information about the robot sensing its dock charging station.
• HazardDetection: An hazard or obstacle detected by the robot.
• HazardDetectionVector: All the hazards and obstacles detected by the robot.
• InterfaceButtons: Status of the 3 interface buttons on the Create® robot faceplate.
• IrIntensity: Reading from an IR intensity sensor.
• IrIntensityVector: Vector of current IR intensity readings from all sensors.
• IrOpcode: Opcode detected by the robot IR receivers.
• KidnapStatus: Whether the robot is currently kidnapped or not.
• LedColor: RGB values for an LED.
• LightringLeds: Command RGB values of 6 lightring lights.
• Mouse: Reading from a mouse sensor.
• SlipStatus: Whether the robot is currently slipping or not.
• StopStatus: Whether the robot is currently stopped or not.
• WheelStatus: Current/PWM readings from the robot’s two wheels in addition to whether wheels are enabled.
• WheelTicks: Reading from the robot two wheels encoders.
• WheelVels: Indication about the robot two wheels current speed.

Services (.srv)

• EStop: Set system EStop on or off, cutting motor power when on and enabling motor power when off.
• ResetPose: Reset the robot pose estimate to the specified value.
• RobotPower: Power off robot.