Connect Create® 3 to Wi-Fi
Follow the main guide for getting started here.
Select RMW Implementation
If you are planning to use ROS 21, make sure you have selected the matching RMW implementation as the rest of the nodes in your system. This can be found in the Application → Configuration menu in the Create® 3 robot's web server, shown in the below image.
The default RMW for ROS 2 Galactic is Cyclone DDS. Be sure to click "save" after making any changes, and then restart the application.
As of Create 3 software version G.2.2, there is a memory leak in Cyclone DDS that can cause the robot to reboot after a few hours of use. Please monitor this issue for further information. Fast-DDS does not have this problem.
See ROS 2 Network Config for more information about RMW specific choices and configuration requirements.
A detailed rundown of the features of the robot webserver can be found on the Application page.
Using Multiple Robots
If you plan to use multiple Create® 3 robots connected to the same Wi-Fi network, then you must follow the Multi-Robot Setup documentation
ROS 2 is governed by Open Robotics ↩