Manual

The Create® 3 has 4 cliff sensors located on the front half of the robot. These sensors measure
the distance from the robot to the ground, and prevent the robot from falling off of cliffs.
Bumper
The bumper is used by the Create® 3 to detect objects or walls that the robot has run in to. It
can trigger reflexes to recoil from the object, or use the information to follow the wall.
Wheeldrop
The wheeldrop is the spring on which the Create® 3 wheels sit. When the robot is lifted off of
the ground, the spring is decompressed and the wheeldrop hazard is activated.
IR Proximity
The IR proxmity sensors are located on the front of the bumper and are used for the wall follow
action. The sensor data can be viewed on the /ir_intensity topic.
Slip and Stall
Wheel slip and stall is also detected by the Create® 3. The status can be viewed on the
/slip_status and /stall_status topics.
Kidnap
The robot uses a fusion of sensor data to detect when it has been picked up and "kidnapped".
Motors will be disabled in this state, and will re-enable when placed on the ground again. The
/kidnap_status topic shows the current kidnap state.