Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Add ability to change mode #13

Open
jacobperron opened this issue Mar 28, 2016 · 5 comments
Open

Add ability to change mode #13

jacobperron opened this issue Mar 28, 2016 · 5 comments

Comments

@jacobperron
Copy link
Member

Could have a subscriber that listens to a custom message for changing the mode of Create (OFF, PASSIVE, SAFE, and FULL). Or as a minimum, have a parameter to the node that starts the robot in SAFE or FULL mode.

@jacobperron
Copy link
Member Author

Added functionality to set-modes branch. Will merge after testing.

@andrewrgross
Copy link

@jacobperron I'm trying to send a Roomba a command to go into passive mode from ROS. How far did you get with this branch?

@jacobperron
Copy link
Member Author

@andrewrgross It was so long ago, I don't recall exactly why I stopped working on this. If I remember correctly, the branch is pretty much feature-complete, but I may have ran into a bug/behaviour issue that I didn't resolve.

@matttsmith
Copy link

@andrewrgross Did you find anything? I'm going to start working on this as well - just started working with ROS on a Roomba Create 2.

@andrewrgross
Copy link

I did actually! It may or may not be useful to you depending on your function, but it turns out that if you send a docking command and it docks, it goes into passive mode! This is the command:

rostopic pub -1 dock std_msgs/Empty

If it's on the dock and you press this, it goes passive, and then if you undock, it becomes active again:

rostopic pub -1 undock std_msgs/Empty

I included a bit more info here: https://crashbot.atlassian.net/wiki/spaces/BOT/pages/31293441/Power

and here: https://crashbot.atlassian.net/wiki/spaces/BOT/pages/32014337/State+Overview

# for free to join this conversation on GitHub. Already have an account? # to comment
Projects
None yet
Development

No branches or pull requests

3 participants