This application note explains how to setup, build and install an image with Ubuntu Desktop 22.04 distribution which has been adapted for usage of NAVQ Plus as a compute board for iRobot Create 3.

1. Download

Starting from the release 1.0.5, the NAVQ Plus release page contains download links for pre-built images with ROS2 / iRobot Create 3 support.

Proceed to page https://staging.voxelbotics.com/releases/ to download the latest release image.

1.1. What is in the Images

Release images contain Ubuntu Desktop 22.04 distribution along with pre-installed ROS2 packages, and pre-configured for the attachment via USB with the iRobot Create 3 adapter board. Once programmed, the image is ready to use out of the box without necessity for additional configuration.

2. How to Install Image

The <release_ver>-ros2.wic.zst image is for installation either on the SD card or on the integrated EMMC. An SD card with minimum 16GB size is required for the installation.

1. Refer to https://voxelbotics.atlassian.net/wiki/spaces/DOC/pages/7340054 for instructions on how to flash SD card with an image.

2. Refer to https://voxelbotics.atlassian.net/wiki/spaces/DOC/pages/7241740 for the instructions on how to flash the integrated EMMC.

3. Hardware Setup

1. Follow the instructions described in details inhttps://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ to connect NAVQ Plus to iRobot Create 3.

2. Follow the instructions described in details in to configure WLAN.

4. Update iRobot Create Firmware

The NAVQ Plus images run Humble Hawksbill release of ROS2 and require the same ROS2 release on the iRobot Create3 adapter board.

1. Proceed to to download the H.1.1 release firmware image.

2. Establish ssh connection with NAVQ Plus:

   ssh <NAVQPlus IP> -L 9080:192.168.186.2:80

3. Open web browser with URL http://127.0.0.1:9080.

4. Follow the instructions described in to update the iRobot Create 3.

5. Test ROS2 APIs

Follow the description in to check ROS2 APIs exposed by iRobot Create 3.

6. Restarting iRobot Create 3 Application From NAVQ Plus

Use the following command in the NAVQ Plus console to restart iRobot Create 3 services without reboot:

7. Rebooting iRobot Create 3 From NAVQ Plus

Use the following command in the NAVQ Plus console to reboot iRobot Create 3. The reboot doesn’t affect the NAVQ Plus itself.