Overview

This application note describes a process of iRobot Create3 hardware/software setup which is specific to Navqplus board programmed with the Navqplus BSP release image.

The goal of the setup routine is to prepare a iRobot Create3 unit for successful inter-operation with the Navqplus as its compute board, specifically for Lidar-based SLAM navigation.

Phase 1. Navqplus

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Software Setup

Though we put the underlying steps as the first phase, this is not a necessary order. The logic behind putting these steps into the first phase is solely a convenience which depends on how you would get your iRobot Create3 and Navqplus - separately or pre-packaged together. If they go separately, then it is indeed more convenient to do these steps first beforehand. Otherwise, Phase 2 steps have been already done, and your are remained just to update the Navqplus BSP.

Step1. Program the VoxelBotixs Navqplus BSP Release

Unless you have a pre-programmed Navqplus board with the most recent BSP release, you should or even must program the board with the most recent VoxelBotics BSP release.

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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 WIFI

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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$ ssh user@<navqplus-ip>

Phase 2. iRobot3 Create3

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Hardware Setup

The steps in this phase are only required if you don’t get iRobot Create 3 packaged with pre-mounted Navqplus.

Step 1. Set the Adapter Board to USB

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Mode

Set the USB/BLE toggle as shown on the following picture (the red arrow).

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Step 2. Mount Navqplus into the iRobot Create3

There is no specific mandatory way how to mount the Navqplus in the iRobot Create cargo bay. One of the ways it can be done is pictured below.

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Consider looking into https://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ for more information on the topic.

Step 3. Connect Navqplus via USB

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Cable

The mandatory requirement is to connect the iRobot Create3 adapter board to the second USB-C port on the Navqplus (one which is closer to the center).

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Step 4. Mount RPLIDAR A1

Mount the RPLIDAR A1 on top of the Create3 cover as much to the center as possible.

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Step 5. Connect RPLIDAR A1 to Navqplus

RPLIDAR A1 comes with an adapter board with micro-USB connector. Use either direct USB Type-C to Micro-USB cable, or use a USB hub to connect the device to Navqplus as depicted on the picture below. We suggest using USB 3.0 hub in order to be able to additionally connect PMD Flexx2 camera to the setup.

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Phase 3. iRobot Create3

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Software Setup

Put the assambled 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 WIFI

1. On your desktop PC, open Terminal application and type in commands:

   Code Block
   $ 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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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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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

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Firmware

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

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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

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Application

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

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