Create® 3

The TurtleBot 4 can also use all of the actions, messages, and services that the iRobot® Create® 3 platform supports:

  • Actions

    • AudioNoteSequence: Play a given set of notes from the speaker for a given number of iterations.
    • DockServo: 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

    • AudioNote: Command the robot to play a note.
    • AudioNoteVector: Command the robot to play a sequence of notes.
    • Button: Status for a button.
    • Dock: Information about the robot sensing the 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. Used to detect the dock and virtual walls.
    • KidnapStatus: Whether the robot has been picked up off the ground.
    • 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

    • EStop: Set system EStop on or off, cutting motor power when on and enabling motor power when off.
    • RobotPower: Power off robot.

    See irobot_create_msgs for more details.

    Note

    When publishing or subscribing to topics, make sure that the QoS that you use matches that of the topic.

  • Actions

    • 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

    • 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 the 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. Used to detect the dock and virtual walls.
    • KidnapStatus: Whether the robot has been picked up off the ground.
    • 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

    • EStop: Set system EStop on or off, cutting motor power when on and enabling motor power when off.
    • RobotPower: Power off robot.

    See irobot_create_msgs for more details.

    Note

    When publishing or subscribing to topics, make sure that the QoS that you use matches that of the topic.