Download, extract, and compile using ROS.
You should work in a user ROS project directory (such as ~/projects/ros), which as been added to $ROS_PACKAGE_PATH.
cd [ROS project directory] wget http://brown-ros-pkg.googlecode.com/files/irobot_create_2_1.tar.bz2 tar -xjf irobot_create_2_1.tar.bz2 rosmake irobot_create_2_1
Plug iRobot Create through USB, which should show up as /dev/ttyUSB0
Make ensure you have access to /dev/ttyUSB0.
sudo chmod 666 /dev/ttyUSB0
To test, start roscore and run irobot_create/driver.py
roscore rosrun irobot_create_2_1 driver.py
In a separate terminal,
# Examine the service rosservice type tank | rossrv show # Publish to the service; make the robot spin rosservice call tank -- 0 -10 10
The last command will instruct the robot to drive the left wheel at -10 mm/s and the right wheel at 10 mm/s, which causes the robot to spin.