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iRobot® Create® 3 Release H.0.0

[Click here to download release H.0.0]

This release is considered a beta. Please report any issues as they are encountered.


This beta release is not stable in BLE mode. Please be sure the USB/BLE toggle on the adapter board is switched to "USB" before using this firmware.

This release is running ROS 2 Humble with the following interface library versions:

Release Overview

This release has feature parity with G.3.1, except that ROS 21 has been upgraded to Humble.


As with the last release, this one provides the robot's sensors and controls via topics, actions, and services; for more, see ROS 2 API.

Between Galactic and Humble, the docking API (messages, actions, and topics) have slightly changed as follows:

  • the DockServo action is now Dock to match the Undock action (example here)
  • the /dock topic (and Dock message) is now /dock_status (and DockStatus message) to avoid confusion with the action (example here)

iRobot® Education Bluetooth protocol mode

iRobot® Education Bluetooth2 protocol mode is not supported.

  1. ROS 2 is governed by Open Robotics. 

  2. The Bluetooth® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by iRobot is under license. 

  3. All other trademarks mentioned are the property of their respective owners.