Turtlebot with not the same model irobot

turtlebot

asked 2011-10-21 11:19:01 -0600

MovieMaker
5 ●6 ●7 ●7

I have two turtlebots which are of the 4XXX series. I need to define the port number and the baud rate. But, I do not know how to do this. The turtlebots are built around the 5XX and the i-create. Any advice would be nice, please.

Thank You in Advance.

:-)

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answered 2011-11-07 06:54:19 -0600

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

if you look in the code you will see a call for setting the baud rate in turtlebot_driver.py... create the SCI interface with the desired baud (something like self.sci= SerialCommandInterface(tty, YOURBAUD)) which basically calls serial with the baudrate

if you would like to change the baudrate and port at a higher level change the turtlebot launch file to use the desire port and baud rate. both parameters are exposed at the node level in turtlebot_node.py

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answered 2011-11-07 05:17:54 -0600

MovieMaker
5 ●6 ●7 ●7

that was the answer i was waiting for. thank you.

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I was FINALLY able to edit the file turtlebot_node.py. the self.sci-57K was the right baud rate. But, in order to change the file, I had to Copy it out of the OPT directory into HOME. But, after modding the file, it still seems to look at the old place and shows me USB0 as before.

MovieMaker ( 2011-11-23 14:09:16 -0600 )edit

Remember I am an Absolute NOVICE at this.

MovieMaker ( 2011-11-23 14:10:54 -0600 )edit

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answered 2011-11-02 06:00:22 -0600

MovieMaker
5 ●6 ●7 ●7

I know about these items. I just need to know HOW to change the baudrate. The physical connection has been made and works with roomba status.

Thank you for your reply!

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I don't understand what you mean.. if you look in the code you will see a call for setting the baud rate in turtlebot_driver.py... create the SCI interface with the desired baud (something like self.sci= SerialCommandInterface(tty, YOURBAUD)) which basically calls serial with the baudrate

mmwise ( 2011-11-02 07:27:24 -0600 )edit

if you would like to change the baudrate and port at a higher level change the turtlebot launch file to use the desire port and baud rate. both parameters are exposed at the node level in turtlebot_node.py

mmwise ( 2011-11-02 07:30:51 -0600 )edit

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answered 2011-10-24 12:59:53 -0600

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

updated 2011-10-24 13:02:14 -0600

There are a lot of different interface specifications published by irobot, try the links below:

iRobot Roomba Open Interface (ROI) Specification

OR

iRobot Create OPEN INTERFACE

OR

iRobot Roomba 500 Open Interface (OI) Specification

OR

iRobot Roomba Serial Command Interface (SCI) Specification

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know about these items. I just need to know HOW to change the baudrate. The physical connection has been made and works with roomba status. Thank you for your reply!

MovieMaker ( 2011-11-02 06:01:15 -0600 )edit

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