ROSA Create 3 Agent

This project uses ROSA to create an embodied ROS agent that enables controlling an iRobot Create® 3 robot using natural language commands.

It supports both physical Create 3 robots and simulation via the Create 3 Simulator.

---

Features

• Natural language control of Create 3 movement and actions via text or verbal commands
• Integrated with ROSA's language understanding capabilities
• Works with iRobot Create 3 in a simulation or real environment

---

Installation

Prerequisites

This package was developed and tested on Windows 10 running a virtual machine (via VirtualBox). For a complete written step-by-step environment setup installation guide that includes a ISO image with ROS 2 Humble preinstalled, refer to this doc.

• Ubuntu 22.04
• ROS 2 Humble

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

• Python 3.10+
• OpenAI and HuggingFace inference API Keys // TODO: add details
• Create 3 ROS 2 interface. See Setup and Build Workspace.
• Simulator or physical robot
  • If you have the iRobot Create® 3, follow these steps to set it up and connect to the network.
  • Otherwise, the Create 3 Simulator. See Setup and Build Workspace.

mkdir -p create3_ws/src
cd create3_ws/src
git clone https://github.com/supertechft/ROSA_Create3_Agent
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Development Guide

• Follow these ROSA Custom Agents and Developer Documentation guides.
• Ensure prompts are similar to TurtleSim.
• Create3 ROS 2 documentation.
• Use iRobot Create 3 Simulator for testing.
• Follow ROS 2 Tutorials.

---

Usage

Launch simulator + agent together

ros2 launch create3_agent agent_launch.py

This will:

• Start the Create 3 simulation in an empty world
• Start the ROSA agent connected to the Create 3 topics

Once running, you can issue commands in natural language (e.g., "Drive forward", "Turn left", "Dock with the charger").

---

Project Structure

! TODO !

rosa_create3_agent/
├── launch/             # Launch files
├── rosa_create3_agent/ # Agent code (agent node, tools, prompts)
├── package.xml         # ROS 2 package manifest
├── setup.py            # Python package setup
├── README.md           # This file
└── LICENSE             # License

---

License

This project is licensed under the Apache-2.0 license.

---

Acknowledgements

• NASA JPL - ROSA framework
• iRobot - Create® 3 Robot