This ROS 2 server will run the robot's C commands in a client-server model with ROS2 in a Docker container with the client running on any dev machine or robot.
To view the full library, visit https://github.com/kipr/create...
iRobot® Create® 3 robot ROS2 server and client library
Holds a ROS2 C++ server for communicating with the iRobot® Create® 3 robot and an associated client library for communicating with said server. The server can then be packaged into a Docker image, allowing the client to remain free of ROS2 dependencies.
The RPC between client and server is handled by Cap'n Proto.
cd create3 cmake -Bbuild cmake --build build
ON) - Controls whether the server is built.
ON) - Controls whether the client library is built.
ON) - Controls whether the create3 CLI is built.
ON) - Controls whether tests are generated that can be run with
For most scenarios:
-Dserver=OFF for the client (eg. dev machine)
-Dclient=OFF -Dcmder=OFF for the server (eg. Docker image)
--parallel <n> to build with multiple threads in
cmake --build build step.
To configure cmake for a windows build, replace
cmake -Bbuild with:
cmake -Bbuild -GNinja -Dserver=OFF
The remaining instructions are the same.
Examples are configured to connect to a KIPR Wombat running the docker instance of the server. Users may want to change the IP address in the examples to match their own setup.
Examples may be run after building by executing:
cd create3/build ./examples/<example_name>
To run unit tests, execute:
cd create3/build ctes