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iRobot® Create® 3 Release H.2.5

[Click here to download release H.2.5]


When using Fast-DDS, startup times are about 30s longer than in our Galactic release.

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

Release Overview

For ROS 21 users, this is a bugfix release. For iRobot® Education Bluetooth2 users, there are no changes. See below for details.

Changelog (from H.2.4)

Core Robot

  • Overall
    • The robot uses less RAM when idle in this release than in previous releases.
  • Webserver
    • Add hidden beta feature to use a user-supplied wpa_supplicant.conf file. Note that this workflow conflicts with the normal provisioning workflow, so it has not been added to the beta menu, so that it is not accessed by accident.


  • Library Versions
    • Update Cyclone DDS from 0.9.0 to 0.10.3
  • Parameters
    • Add ROS 2 parameter wheels_stop_threshold_sec to the /motion_control node. This parameter controls the amount of time that the robot will keep executing the last provided velocity command (on the /cmd_vel topic) before considering it stale and stopping the wheels. Default value is 0.5 seconds.
    • Add the following ROS 2 parameters to the /robot_state node to control (and disable) unnecessary ROS 2 publications to improve robot performance:

      • publish_hazard_msgs: default true. If set to false, the robot will not publish the /hazard_detection topic. Disabling this can noticeably reduce the CPU and RAM usage of the robot.
      • hazards_pub_fixed_period_ms: default -1. This controls whether the robot should publish hazard information even if the hazards are not changing. Set it to -1 to disable fixed period hazard publications and have hazards be published only when they change. This parameter will be ignored if publish_hazard_msgs is set to false.
      • raw_kinematics_min_pub_period_ms: default 25. This controls the minimum period at which the robot should publish raw kinematics information. If set to -1, it will disable raw kinematics publications. This can noticeably reduce the CPU and RAM usage of the robot. A value of 1 indicates that raw data should be published as soon as they are available. Values higher than 1 will throttle publications and will give some CPU improvement, but won't help RAM usage. The following topics are affected by this parameter: /imu, /mouse, /wheel_status, /wheel_ticks, /wheel_vels. If you are not interested in subscribing to these topics, it's recommended to set this parameter's value to -1.
      • publish_odom_tfs: default true. If set to false, the robot will not publish odometry information in the /tf topic. This can reduce the CPU and RAM usage of the robot if not needed. Note: this parameter is independent from raw_kinematics_min_pub_period_ms

      As a summary, the best performance can be obtained via

          publish_hazard_msgs: false
          publish_odom_tfs: false
          raw_kinematics_min_pub_period_ms: -1

      Note that publish_odom_tfs: true is required to interact with the navigation stack.

      This new version changes the default timing of some ROS 2 topics to improve the CPU performance. To restore the previous behavior users can use the following configuration

          hazards_pub_fixed_period_ms: 16
          raw_kinematics_min_pub_period_ms: 1

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