Where can I find the hardware drivers

[aalbaali]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

Ubuntu 22.04

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.6

Which RMW is your robot running?

I don't know

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

Yes, home network

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

None

What is the Adapter Board's USB/BLE Toggle currently switched to?

None

Describe your question.

I'm experimenting with different middlewares and I'm trying to run the iCreate3 without using ROS (2), but I can't find the hardware drivers (e.g., encoders, motors, LEDs, etc.) nor their documentation.

What is the best way to control iCreate3 in a ROS-agnostic way? And, where can I find the documentation for these drivers?

[shamlian]

The iRobot Create 3 documentation is found here. The options for controlling the robot are either ROS 2 over an Ethernet network, which is documented in detail on the documentation site or using the iRobot Python SDK which implements this open protocol over BLE.