process1183 / roomba-rpi

iRobot Roomba 690 enhanced with a Raspberry Pi Zero 2W and IMU

Roomba RPi

Project to enable enhanced capabilities, such as remote control and improved navigation, of my iRobot Roomba 690 with the addition of a Raspberry Pi Zero W and IMU.

This repo contains the technical documentation, schematic, configuration files, and software for the Roomba RPi project.

Project logs, additional photos, and goals are available on the Hackaday.io Roomba RPi Project Page.

---

This is the Roomba after the hardware modifications were completed. (As intended, it looks no different than before the alterations).

---

The outer ring top cover is trivial to remove and replace, providing access to the Roomba serial connector, RPi serial port, and RPi shutdown button. The center top cover can be popped off to access the serial board, RTC battery, and Micro SD card (although the Roomba's clear button shroud needs to be unscrewed to get to the Micro SD card).

---

With the Roomba mostly disassembled, you can see the voltage regulator, USB to serial adapter board, RTC, IMU, and Raspberry Pi Zero W. The unconnected cable near the top left is for the Roomba serial port connector. The unconnected cable near the bottom right plugs into the RPi serial and shutdown button board, which is attached to the Roomba's upper chassis cover.

roomba-rpi's Issues

Changing python interpreter

Thanks for creating https://github.com/process1183/roomba-rpi/blob/master/docs/ros2_rpizw_build.md, it helped a lot to get ros2 running on a raspberry pi 3b+.

Everything worked flawlessly, except this error:

$ ros2 run demo_nodes_cpp talker
-bash: /opt/ros2_foxy/install/bin/ros2: /usr/local/bin/python3.7: bad interpreter: No such file or directory

After adding a symlink in /usr/local/bin/:

sudo ln -s /usr/bin/python3.7 python3.7

The ros2 commands worked.

Now, my question, I compiled python 3.10 from source (and installed pyqt5 into a py3.10 virtual env) and I'd like to use Python 3.10 (/usr/local/bin/python3.10) for ROS2 as well. Would I have to recompile everything or is it a simple fix?