In case anyone wants to try a roomba 500 series or create with the euclid. You can make a cable with an FTDI232 ($5 on amazon) board an a mini-din connector. Use the OI documentation from iRobot to match the RX to TX, TX to RX, DTS to "Baud Rate" (CTS), and GND to GND.
Set the following environment variables in your .bashrc:
echo export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0>>~/.bashrc
echo export TURTLEBOT_3D_SENSOR=euclid>>~/.bashrc
echo export TURTLEBOT_BASE=roomba>>~/.bashrc
echo export TURTLEBOT_STACKS=circles>>~/.bashrc
Copy the roomba.circles.kinect.urdf.xacro to roomba.circles.euclid.urdf.xacro and replace "kinect" with "euclid" in the file.
sudo cp /opt/ros/kinetic/share/turtlebot_description/robots/roomba.circles.kinect.urdf.xacro /opt/ros/kinetic/share/turtlebot_description/robots/roomba.circles.euclid.urdf.xacro
sudo vi /opt/ros/kinetic/share/turtlebot_description/robots/roomba.circles.euclid.urdf.xacro
You can now run turtlebot_bringup to test it (watch the TX/RX lights on the FTDI, if they flash rapidly, it's probably working):
roslaunch turtlebot_bringup minimal.launch
Try a teleop using a new terminal window:
roslaunch turtlebot_teleop keyboard_teleop.launch
Now edit the Turtlebot node in the Euclid Nodes tab of the Euclid web page (10.42.0.1) and add the following parameters:
Parameter Value serialport /dev/ttyUSB0 3d_sensor euclid base roomba stacks circles
You should be able to start the scenarios now, watch the RX/TX lights on the FTDI to see if it's working. It sometimes takes about a minute to start working. The scenarios stay red for me, I'm still trying to figure that out. Hope this helps someone out. It took me all day to get it working. TurtlebotCA explores and navigates, TurtlebotDepthFollower seems to only run away from you, and TurtlebotPersonFollower works pretty well.