Page 388 - Hacking Roomba
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Chapter 16 — Other Projects 369
a robot device interface that provides a high-level and abstract view of a robot’s actions.
Researchers worldwide use Player as a common toolkit for experimenting with robotics. To
allow Player to control the robot, Michael wrote a Roomba driver in C++. A small configura-
tion file change to Player is all that’s required to get it to use the Roomba driver.
Figures 16-5 and 16-6 show iPaq Roomba installed using two different iPaq models and two
different Roomba models. Both have Wi-Fi and can run a web server or SSH server. They
both run the Player server and thus can be controlled remotely. A third computer runs the
Player Stage program for multi-robot interaction.
Mike has plans on adding a camera and other useful sensors. Thanks to Player and Linux these
can be integrated without much extra code.
FIGURE 16-5: iPaq Roomba with an older iPaq on a red Roomba model
FIGURE 16-6: iPaq Roomba with a newer iPaq on a Roomba Discovery
