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1. Overview
This application note describes how to prepare a iRobot Create3 unit to work in pair with the NavQ+ connected as its compute board for running ROS2 navigation and SLAM.
A quick introduction to the ROS2 navigation stack and SLAM can be found at Introduction to ROS2 Navigation and SLAM.
We recommend downloading the Create3 Getting Started Manual at https://edu.irobot.com/learning-library/create-3-getting-started to familiarize with the iRobot Create3 basic functionality.
This application note assumes that the reader is already familiar with Create3 basic functionality and user interface.
2. Phase 1. Mount and Connect NavQ+ to Create3
We recommend the reader follows the guidance on thehttps://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ page to mount and hook up the NavQ+ to the Create3 unit.
The necessary requirements which must be followed for correct NavQ+ operation as the Create3 compute board:
The USB/BLE toggle on the Create3 adapter board must be switched to USB mode.
The toggle switch is directly accessible when the face plate is removed. Alternatively, the adapter board can be pulled off from the Create3 when the cargo bay is removed.The NavQ+ USB-C port #2 (the one close to the middle) is connected to the USB-C port on the adapter board.
WARNING: The USB cable must support 3A supply current.
NOTE: It’s may also be beneficial to additionally connect the unregulated battery port on the adapter board to the dedicated NavQ+ power input (PWR IN) .
2.1. Installing Heatsinks on NAVQ+
To prevent the kit from heating it is recommended to install heatsinks on NAVQ+. Install PcCooler Ram Heatsinks RHS-03 or similar on MCU U1 and SDRAM U2 following instructions of heatsink vendors.
See below the picture of NAVQ+ with installed heatsinks:
3. Phase 2. Mount and Connect SlamTec RPLIDAR A1
We recommend the reader follow the guidance on the https://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ page in part related to connecting of RPLIDAR A1.
These are the necessary requirements which must be followed for correct LIDAR operation in respect to navigation and SLAM:
The LIDAR must be mounted at the center of the Create3 face plate such that the center of the rotating part of the LIDAR must not deviate more that one centimeter from the center of the face plate.
The LIDAR orientation must be strictly along the center line with the LIDAR motor being farthest from the Create3 buttons (see example below).
The LIDAR is connected to NavQ USB-C port #1 (closer to the edge) either directly or via a hub.
4. Phase 3. Install the Latest Create3 Humble Firmware
Follow the guidance on the https://edu.irobot.com/create3-setup page for performing the Create3 initial setup, software update, and (phases 1 and 2).
NOTE: For the robot update phase use the https://iroboteducation.github.io/create3_docs/releases/overview/ for downloading the latest Humble release in replacement to the link in the guide.
After that follow the guidance on the https://edu.irobot.com/create3-setup phase 3 to connect Create3 to the local WIFI network.
5. Phase 4. Configure Create3 Application
Step 1
Press and hold Buttons 1 & 2 to activate your robot's hotspot. When successful, your robot's light ring will show a spinning blue light.
Step 2
Open your computer's wifi manager and connect to your robot listed as Create-[xxx]. Once connected, your robot's light ring will show a solid cyan glow.
Step 3
Once your computer is connected to your robot's Wi-Fi network, open a NEW internet browser window and navigate to: 192.168.10.1
Step 4
Open the Application/Configuration menu tab.
Step 5
In the application configuration block set ROS 2 Domain ID to1, and set RMW_IMPLEMENTATION to rmw_cyclonedds_cpp.
Step 6
Push Save button, and then click the Restart application link.
The robot will chime its happy sound when restart is complete.
6. Phase 5. Install the Latest NavQ+ Software Release
Be sure the NavQ+ has the latest software release installed.
Browse https://staging.voxelbotics.com/releases/ page for the most recent release and download the images.
Proceed to either Installing Linux to the EMMC using USB Serial Downloader or Flashing SD Card with Linux Image from Linux Host to program the downloaded image depending on the storage type used to boot NavQ+.
7. What’s next
This concludes the setup. Proceed to either Setup Linux Host for Running Rviz for setting up a Linux host, or to PMD Flexx2 SLAM Setup for setting up PMD Flexx2 camera for enhanced object avoidance.
8. Related Topics
Introduction to ROS2 Navigation and SLAM quick introduction to the ROS2 navigation concepts.
PMD Flexx2 SLAM Setup application note form mounting the PMD ToF camera.
Setup Linux Host for Running Rviz application note for controlling and monitoring robot navigation.
Launching SLAM application note on launching ROS2 navigation on iRobot Create3.