Jacob Perron

Added functionality to [set-modes](https://github.com/AutonomyLab/create_autonomy/tree/set-modes) branch. Will merge after testing.

@betaupsx86 Let me know if you have plans to work more on this PR. Otherwise, I will go ahead and finish adding these features.

Thanks for reporting this. I can't recall myself experiencing this issue, but I have not had the driver running continuously for days. To clarify, does this issue only present itself...

Which version of the driver were you trying to compile? I suggest checking out the [`kinetic` branch](https://github.com/AutonomyLab/create_robot/tree/kinetic).

I don't quite understand the issue. Are you saying that when given a small forward velocity that the robot is turning instead of driving straight? Judging by your plots, it...

I'm not convinced the odometry error is caused by the software driver. The wheel encoders on the Create platform will not give very good odometry. I would not be surprised...

Only the omni IR sensor is supported, and this referring to the real robot driver. Note, this is a passive sensor (not a range finder). To get an equivalent sensor...

@Interaze I don't have much time to dedicate, but it does look like gazebo_ros supports [bumper sensors](http://gazebosim.org/tutorials?tut=ros_gzplugins#Bumper). You could try adapting that example, adding it to the [create gazebo description...

Added functionality to [set-modes](https://github.com/AutonomyLab/create_autonomy/tree/set-modes) branch. Will merge after testing.

@andrewrgross It was so long ago, I don't recall exactly why I stopped working on this. If I remember correctly, the branch is pretty much feature-complete, but I may have...