Overview

This application note describes a process of iRobot Create3 hardware/software setup which is specific to NavQ+ board programmed with the NavQ+ BSP release image.The goal of the setup routine is to how to prepare a iRobot Create3 unit for successful inter-operation to work in pair with the NavQ+ connected as its compute board , specifically for Lidar-based SLAM navigation.for running ROS2 navigation and SLAM.

A quick introduction to the ROS2 navigation and SLAM can be found at Introduction to ROS2 navigation and SLAM

Phase 1. 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 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 NavQ+ BSP.

Step1. Program the VoxelBotics NavQ+ BSP Release

Unless you have a pre-programmed 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 NavQ+.

Step 2. Setup 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 NavQ+ BSP contains the Ubuntu 22 distribution with “user”/”user” login credentials.

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ssh user@<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 NavQ+.

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 NavQ+ into the iRobot Create3

There is no specific mandatory way how to mount the 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 NavQ+ via USB Cable

The mandatory requirement is to connect the iRobot Create3 adapter board to the second USB-C port on the NavQ+ (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 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 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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Step 6. Connect PMD Flexx 2

PMD Flexx2 camera can be additionally connected to the robot. We suggest using a USB 3.0 hub for connecting the camera along with the RPLIDAR A1. We recommend mounting the camera at rear side, preferable on the center, as depicted on the photo below, such that resides at the back to the lidar and looks in forward direction. For the purpose of using the navigation stack configuration without any modifications, the camera eye should be at 20cm +/- 2cm height relative to the floor, 10 cm +/- 1cm back of the robot’s center, and on the center line. The photo below depicts the camera positioning. In case the positioning is altered, the camera configuration should be modified as described in Launching SLAM .

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Phase 3. iRobot Create3 Software Setup

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 Wi-Fi

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

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

2. Log in to the 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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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.
   

   

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

   

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

   

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.
   

   

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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