segwayrmp

Segway RMP mobile robot. More...

Segway RMP mobile robot.

Todo:
Enable advanced functionality (ramp speeds, etc)

The segwayrmp driver provides control of a Segway RMP (Robotic Mobility Platform), which is an experimental robotic version of the Segway HT (Human Transport), a kind of two-wheeled, self-balancing electric scooter. Four wheeled versions are also available, and consist of two independent two-wheeled platforms bolted together. Thus, two instances of this driver should be able to control a four-wheeled version.

The driver has been updated to the 3.0 API to the point that it compiles and runs. Position2d commands and odometry have been tested and work, and both batteries report voltages. Testing has only been done over USB, with a Segway RMP400 platform.

This segwayrmp driver supports a usb interface for the newer RMP UI protocol. It also maintains compatibility for the older CAN interface.

Compile-time dependencies
Notes
Provides
Configuration requests
Requires
Configuration file options
Example
driver
(
  name "segwayrmp"
  provides ["position2d:0" "position3d:0" "power:0" "ui:::power:1"]
  bus "usb"
  usb_device "/dev/ttyUSB1"
  max_xspeed 1.5
  max_yawspeed 80
)
Author:
John Sweeney, Brian Gerkey, Andrew Howard, Eric Grele, Goutham Mallapragda, Anthony Cascone, Rich Mattes