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After compiling from source, don't forget to source your workspace:
source ~/create_ws/devel/setup.bash
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Connect computer to Create's 7-pin serial port
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Launch one of the existing launch files or adapt them to create your own.
For Create 2 (Roomba 600/700 series):
roslaunch ca_driver create_2.launch- config - Absolute path to a configuration file (YAML). Default:
ca_driver/config/default.yaml - desc - Enable robot description (URDF/mesh). Default:
true
For example, if you would like to disable the robot description and provide a custom configuration file:
roslaunch ca_driver create_2.launch config:=/abs/path/to/config.yaml