From 93c191b2f3b599678a94656fcd76e23242ec17ea Mon Sep 17 00:00:00 2001 From: Steven Shamlian Date: Sun, 25 Aug 2024 16:52:13 -0400 Subject: [PATCH 1/2] Add I.0.0 --- docs/releases/i_0_0.md | 30 ++++++++++++++++++++++++++++++ docs/releases/overview.md | 7 ++++++- mkdocs.yml | 2 ++ 3 files changed, 38 insertions(+), 1 deletion(-) create mode 100644 docs/releases/i_0_0.md diff --git a/docs/releases/i_0_0.md b/docs/releases/i_0_0.md new file mode 100644 index 0000000..1eeb90f --- /dev/null +++ b/docs/releases/i_0_0.md @@ -0,0 +1,30 @@ +# iRobot® Create® 3 Release I.0.0 +[[Click here to download release I.0.0.CycloneDDS]](https://github.com/iRobotEducation/create3_docs/releases/download/I.0.0/Create3-I.0.0.CycloneDDS.swu) +[[Click here to download release I.0.0.FastDDS]](https://github.com/iRobotEducation/create3_docs/releases/download/I.0.0/Create3-I.0.0.FastDDS.swu) + +!!! warning + Be sure to download the correct release for your choice of middleware. + +## This release is running ROS 2 Iron with the following interface library versions: + +- [irobot_create_msgs - 2.1.0](https://github.com/iRobotEducation/irobot_create_msgs/tree/2.1.0) +- [cyclonedds - 0.10.3](https://github.com/eclipse-cyclonedds/cyclonedds/tree/0.10.3) +- [Fast-DDS - 2.10.1](https://github.com/eProsima/Fast-DDS/tree/2.10.1) + +## Release Overview +For ROS 2[^1] users, this is a feature release, and our first upgrade to ROS 2 Iron. +For iRobot® Education Bluetooth[^2] users, there are no changes. +See below for details. + +!!! note + In testing, this release appears to be fully compatible with ROS 2 Jazzy, as well. Please be sure to let us know if you run into any [issues](https://github.com/iRobotEducation/create3_docs/issues). + +## Changelog (from H.2.6) +### ROS 2 +* Topics + * The robot can now be tele-operated via `geometry_msgs/msg/TwistStamped` messages on the `cmd_vel_stamped` topic. (You may also continue to use the `cmd_vel` topic; don't use both at the same time.) + + +[^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. diff --git a/docs/releases/overview.md b/docs/releases/overview.md index fabbbf0..e623359 100644 --- a/docs/releases/overview.md +++ b/docs/releases/overview.md @@ -19,6 +19,8 @@ One exception is that beta features may be added in minor releases. The latest stable release can be found at [http://edu.irobot.com/create3-latest-fw](http://edu.irobot.com/create3-latest-fw). +The latest stable Iron release can be found at +[http://edu.irobot.com/create3-iron-latest-fw](http://edu.irobot.com/create3-iron-latest-fw). The latest stable Humble release can be found at [http://edu.irobot.com/create3-humble-latest-fw](http://edu.irobot.com/create3-humble-latest-fw). The latest stable Galactic release can be found at @@ -28,8 +30,11 @@ Downloads of a particular version can be found on each individual release page. ## Releases +### Iron +* [I.0.0](../i_0_0) (iron-latest, latest) + ### Humble -* [H.2.6](../h_2_6) (humble-latest, latest) +* [H.2.6](../h_2_6) (humble-latest) * [H.2.5](../h_2_5) * [H.2.4](../h_2_4) * [H.2.3](../h_2_3) diff --git a/mkdocs.yml b/mkdocs.yml index fc72332..c7750c9 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -162,4 +162,6 @@ nav: - H.2.3: releases/h_2_3.md - H.2.4: releases/h_2_4.md - H.2.5: releases/h_2_5.md + - Iron: + - I.0.0: releases/i_0_0.md - FAQ: faq/faq.md From 9710925c71d11ed6b58c73f364ab951ef40e4000 Mon Sep 17 00:00:00 2001 From: Steven Shamlian Date: Sun, 25 Aug 2024 17:04:29 -0400 Subject: [PATCH 2/2] Add notes about middleware availability per firmware --- docs/setup/xml-config.md | 2 ++ docs/webserver/application.md | 2 ++ 2 files changed, 4 insertions(+) diff --git a/docs/setup/xml-config.md b/docs/setup/xml-config.md index f410e99..413c16e 100644 --- a/docs/setup/xml-config.md +++ b/docs/setup/xml-config.md @@ -2,6 +2,8 @@ ROS 2[^1] is built on top of DDS/RTPS as its middleware, which provides advanced networking features such as: discovery, serialization and transportation. This **R**OS 2 **m**iddle**w**are is abbreviated **RMW** for short. +The middleware running on the robot can be selected using the [Application Configuration](../webserver/application.md) page on the webserver. Note that the choice of middleware available may be restricted by the firmware installed on your robot; check the [releases](https://github.com/iRobotEducation/create3_docs/releases) for more details on available firmware. + This page contains some examples that may be useful when interacting with the iRobot® Create® 3. !!! important diff --git a/docs/webserver/application.md b/docs/webserver/application.md index 0a5766d..31ba07b 100644 --- a/docs/webserver/application.md +++ b/docs/webserver/application.md @@ -26,6 +26,8 @@ Further details on these settings can be found in the official ROS 2 documentati For robots running Galactic >= G.4 and Humble >= H.1, when Fast-DDS is selected as the RMW, it is possible to direct the robot to use an offboard Fast-DDS Discovery server, as well. Further details on the Fast-DDS Discovery Server can be found [here](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html). +When running Create 3 firmware for Iron, only one middleware selection is available at a time; to switch middleware, it is necessary to install the matching firmware. + ### Application ROS 2 Parameters File This is a raw yaml file used for configuring ROS 2 parameters. The web server will not validate this yaml file; setting it incorrectly may cause the application to fail to start properly.