Create® 3 Configuration

Attention

This documentation site has been moved. Please refer to its new location in the future.

This page presents the default Interbotix configuration of the LoCoBot’s Create® 3 base. This can be found on the Create® 3 webserver accessed through the LoCoBot’s computer’s web browser (Firefox, etc.) at 192.168.186.2/ros-config.

Warning

Make sure that your Create® 3 base is configured to this default, otherwise it may not work properly or you may experience unexpected behavior.

Note

If you modify any of these configurations, make sure to save the changes and restart the application for them to take effect.

Configuration

Main configuration

Field Interbotix Default Value Notes
ROS 2 Domain ID 0 This value is typically left as the default if you do not have multiple ROS domains on the same network. See ROS 2 Domain ID Documentation.
ROS 2 Namespace /mobile_base The value dictates the namespace under which all Create® 3 nodes, topics, services, actions, and parameters will be, i.e. the /tf topic published by the base will be /mobile_base/tf.
RMW_IMPLEMENTATION rmw_fastrtps_cpp This value tells which RMW implementation to use. See ROS 2 RMW Implementation Documentation.

Application ROS 2 Parameters File

/mobile_base/motion_control:
  ros__parameters:
    safety_override: "full"
    reflexes_enabled: false
Parameter Type Interbotix Default Value Notes
/mobile_base/motion_control safety_override String "full" Turns off all safety features. See Create® 3 Safety Overrides for more information.
/mobile_base/motion_control reflexes_enabled Boolean false Turns off all reflexes. See Create® 3 Reflexes for more information.

See the Create® 3’s ROS 2 Parameters documentation for a list of all possible configurable parameters.