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Also, pay attention to the Verifying step for either of the installation variants as it contains the boot switch configuration step required for correct selection of the boot device on the Navqplus.

Step 2. Setup Navqplus

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Wi-Fi

Proceed with Setting up Wi-Fi application note for setting up WLAN access to the board. Check WLAN access to the board with logging in using SSH to the board’s IP address. The Navqplus BSP contains the Ubuntu 22 distribution with user/user login credentials.

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Put the assembled Create3 unit on the charger and wait until the boot is complete. The unit issues a sound when the booting is complete.

Step 1. Configure

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Wi-Fi

1. On your desktop PC, open Terminal a terminal application and type in commandsthe following command:

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   $ ssh user@<navqplus-ip> -L 8010:192.168.186.2:80

2. Log in to the Navqplus console using “user”/“user” username and password.

3. Leave the terminal window opened and , open a web browser, and type in http://127.0.0.1:8010 in the address line.

4. Select the Connect menu as shown on the picture below.
   

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5. In the connect page select or type in the WLAN SSID and password, and the press connect button as shown below.

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6. Upon successful connection you would see the following message.
   

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7. Press the Connect menu button again. On the page you would see the IP address of the robot.
   

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8. Close the terminal window and type in the Robot’s IP address in the browser address line.

9. If all is good, then you would end up with the same invitation page as at the address 127.0.0.1:8010

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Step 2. Update Create 3 Firmware

1. Unless your robot is already installed with the latest firmware, you should update it.

2. Download the latest “Humble” firmware image (H.1.1 at the time of the writing) from this page: https://iroboteducation.github.io/create3_docs/releases/h_1_1/

3. On the robot’s web page click Update menu button.
   

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4. On the Update page click the “Click here” link to update from the file.
   

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5. Click the “Choose file” button and select the saved downloaded image, and then push the Upload File and Update button.
   

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6. It takes about 6-7 minutes to update the Create3 firmware. The firmware update would accomplish with the same sound as at the end of booting.

Step 3. Configure Create 3 Application

1. On the robot web page select Application/Configuration menu button.
   

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2. In the application configuration block type in ROS 2 Domain ID 1, and set RMW_IMPLEMENTATION to rmw_cyclonedds_cpp. Then push button save, and then click the

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1. Restart application link.

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2. The sound identical to the boot completion sound would conclude the configuration.