Create® 3 Setup

Setup

This section details the setup for your Create® 3 base. Follow Phases 1 and 3 in iRobot's Create® 3 Setup Guide. You should not need to follow Phase 2 since we will provide the latest stable firmware for the base.

Configuration

This section presents the default Interbotix configuration of the LoCoBot's Create® 3 base. This can be found on the Create® 3 webserver accessed through the LoCoBot's computer's web browser (Firefox, etc.) at 192.168.186.2/ros-config if connected over the base's USB-Ethernet interface.

Warning

Make sure that your Create® 3 base is configured to this default, otherwise it may not work properly or you may experience unexpected behavior.

Note

If you modify any of these configurations, make sure to save the changes and restart the application for them to take effect.

Main configuration

ROS 1ROS 2

Field	Interbotix Default Value	Notes
ROS 2 Domain ID	0	This value is typically left as the default if you do not have multiple ROS domains on the same network. See ROS 2 Domain ID Documentation.
ROS 2 Namespace	/mobile_base	The value dictates the namespace under which all Create® 3 nodes, topics, services, actions, and parameters will be, i.e. the /tf topic published by the base will be /mobile_base/tf.
RMW_IMPLEMENTATION	rmw_fastrtps_cpp	This value tells which RMW implementation to use. See ROS 2 RMW Implementation Documentation.

You can set the Main Configuration parameters via the command line using curl if connected to the Create 3 base. The command below will set the configuration to the required parameters if using the ROS 1 Interface.

$ curl -X POST -d "ros_domain_id=0&ros_namespace=/mobile_base&rmw_implementation=rmw_fastrtps_cpp" "http://192.168.186.2/ros-config-save-main"

Attention

The application still needs to restart to take effect. To do this, you can either reboot the robot using the physical power button or its RobotPower service, or use a web browser to reset the application manually.

Application ROS 2 Parameters File

ROS 1ROS 2

/mobile_base/motion_control:
  ros__parameters:
    safety_override: "full"
    reflexes_enabled: false

Parameter	Type	Interbotix Default Value	Notes
/mobile_base/motion_control safety_override	String	"full"	Turns off all safety features. See Create® 3 Safety Overrides for more information.
/mobile_base/motion_control reflexes_enabled	Boolean	false	Turns off all reflexes. See Create® 3 Reflexes for more information.

See the Create® 3's ROS 2 Parameters documentation for a list of all possible configurable parameters.