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
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.
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 | /locobot/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
/locobot/mobile_base/tf . |
RMW_IMPLEMENTATION | rmw_cyclonedds_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 2 Interface.
$ curl -X POST -d "ros_domain_id=0&ros_namespace=/locobot/mobile_base&rmw_implementation=rmw_cyclonedds_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
/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. |
/locobot/mobile_base/motion_control:
ros__parameters:
safety_override: "full"
reflexes_enabled: false
Parameter | Type | Interbotix Default Value | Notes |
---|---|---|---|
/locobot/mobile_base/motion_control safety_override | String | "full" |
Turns off all safety features. See Create® 3 Safety Overrides for more information. |
/locobot/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.