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This application note describes step to launch lidar-based SLAM on iRobot Create3 with Navq Plus NavQPlus as a compute board.

Preparation

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Put your robot on a level surface, make sure there are no dangling wires that could damage the robot or the NAVQ Plus NavQPlus board during the movements.

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  1. Open a terminal window.

  2. Log in to the Navqplus NavQPlus console:

    Code Block
    ssh user@<navqplus-ip>

  3. Make sure USB1 is in the host mode:

    Code Block
    sudo sh -c 'echo host > /sys/kernel/debug/usb/38100000.usb/mode'
lsusb
Bus 002 Device 002: ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 2109:0101 VIA Labs, Inc. USB 2.0 BILLBOARD
Bus 001 Device 004: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 003: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
Bus 001 Device 002: ID 0451:8142 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

  4. Start the navigation applications, leave the window open with the application running:

    Code Block
    /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b

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