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C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba. create_autonomy is a ROS wrapper for this library.

Build Status

Build Status



    sudo apt-get install build-essential cmake libboost-system-dev libboost-thread-dev

    # Optionally, install gtest for building unit tests
    sudo apt-get install libgtest-dev
    cd /usr/src/gtest
    sudo cmake CMakeLists.txt
    sudo make
    sudo cp *.a /usr/lib

Serial Permissions

User permission is requried to connect to Create over serial. You can add your user to the dialout group to get permission:

    sudo usermod -a -G dialout $USER

Logout and login again for this to take effect.


Note, the examples found in the "examples" directory are built with the library.


    git clone
    cd libcreate
    mkdir build && cd build
    cmake ..
    make -j


Requires catkin_tools.

    mkdir -p create_ws/src
    cd create_ws
    catkin init
    cd src
    git clone
    catkin build

Running Tests

To run unit tests, execute the following in the build directory:

    make test

Known Issues

  • Clock and Schedule buttons are not functional. This is a known bug related to the firmware.
  • Inaccurate odometry angle for Create 1 (#22)
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