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

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

Phase 1.

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NavQ+ 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 NavQ+ - separately or pre-packaged together. If they go separately, then it is indeed more convenient to do these steps first. Otherwise, Phase 2 steps have been already done, and your are remained just to update the NavQPlus NavQ+ BSP.

Step1. Program the VoxelBotics

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NavQ+ BSP Release

Unless you have a pre-programmed NavQPlus NavQ+ 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 NavQPlusNavQ+.

Step 2. Setup

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NavQ+ 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 NavQ+ BSP contains the Ubuntu 22 distribution with “user”/”user” login credentials.

So, the SSH login command would look like:

ssh user@<navqplususer@<NavQ+-ip>

Phase 2. iRobot3 Create3 Hardware Setup

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

Step 1. Set the Adapter Board to USB Mode

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

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Step 2. Mount

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NavQ+ into the iRobot Create3

There is no specific mandatory way how to mount the NavQPlus NavQ+ 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

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NavQ+ via USB Cable

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

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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

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NavQ+

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 NavQ+ 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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1. On your desktop PC, open a terminal application and type in the following command:

   Code Block
   ssh user@<navqplususer@<NavQ+-ip> -L 8010:192.168.186.2:80

2. Log in to the NavQPlus NavQ+ console using “user”/“user” username and password.

3. Leave the terminal window opened, 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.
   

   

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

   

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

   

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

   

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

   

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 Restart application link.

   

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

Tweaking navigation stack configuration parameters

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