Sensors via ROS 2 Command Line

This page describes how to read the the Create® 3 robot's sensors using the ROS 2¹ command line tools.

Overview

Reading the robot's sensors is as simple as

ros2 topic echo {topic}

where {topic} is the topic of interest. If you're not sure what topics are available, you can type

ros2 topic list --no-daemon --spin-time 10

The --no-daemon and --spin-time arguments are not strictly necessary, but they may help with initial discovery.

A detailed API description for each sensor can be found here.

These are relatively straighforward, but for fun:

ros2 topic echo /battery_state

ros2 topic echo /interface_buttons

ros2 topic echo /dock

ros2 topic echo /dock_status

ros2 topic echo /ir_opcode

ros2 topic echo /ir_intensity

ros2 topic echo /odom

ros2 topic echo /wheel_status