Driving backwards vs Custom dock modification #619
Description
I'd like to attach mechanical device in front of robot to perform object manipulation. I used this approach with Kobuki (Turtlebot 2) with no problems. With Create 3 there is dock (Home base) that prevents this since it is only way of charging the robot.
Is there a way to just attach anything to the back of the robot and flip forward/backward directions? I'm using ROS navigation so I wouldn't be using bumper & bottom IR sensors anyways. I can think of few issues:
- different wheel dynamics in forward/backward directions?
- stability: could be solved by attaching additional caster at the back (now front)
- firmware on intergrated board don't support this and would need to be modified
If the forward/backward flip could be solved within ROS without touching embedded board that'd be cool.
Another way this could be solved would be 3D printing custom dock, a flat one, where robot would just drive onto it. Issues could be:
- proprietary iRobot HW inside dock (charging system)
- would need huge 3D printer
- would need special power supply
I think modifying Create3 in this way would be huge benefit for community and owners of Create3 robot. Does anyone have experience with either flipping directions of Create3 ( or previous Turtlebots ) and/or creating custom dock/charging?