This app is written by rosjava, which is developed by Willow Garage and Google. It publishes cmd_vel (geometry_msgs/Twist) as velocity of roomba or PR2.
If you are using ROS for controlling your robots, you can drive them by this App.
You can access to source code from
ROS wiki page
- /cmd_vel (geometry_msgs/Twist) velocity for mobile robot. when you tilt your device, this will be published
- /roomba/clean (std_msgs/Bool) start or stop cleaning
- /roomba/dock (std_msgs/Bool) start docking
start ROS core for local master setting