iRobot® Create® 3 Release H.2.1

[Click here to download release H.2.1]

Warning

When using Fast-DDS, startup times are about 30s longer than in our Galactic release. We are working on a fix.

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

• irobot_create_msgs - 2.1.0
• cyclonedds - 0.9.0
• Fast-DDS - 2.6.4

Release Overview

For ROS 2¹ users, this is primarily a feature release. For iRobot® Education Bluetooth² users, this is a bugfix release. See below for details.

Changelog (from H.1.2)

ROS 2

• Publications
  • Add /cliff_intensity topic (#320)
  • Add tf frame for the IMU (called imu), to which the /imu topic is now connected
• Middleware
  • Allow the use of ; characters in Fast-DDS Discovery Server configuration (#400)
  • Beta: Allow user to provide an XML configuration file for their preferred middleware (#407)

Core Robot

• Webserver / OS
  • Beta: Allow user full control to edit ntp.conf (#333)
  • Remove erroneous log messages about the robot's lost Wi-Fi connection when it had never been connected in the first place

iRobot® Education Bluetooth protocol mode

• Fix device number for stall event to match protocol document (#410)

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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. ↩