SegwayRMP400 Mobile Robot. More...

SegwayRMP400 Mobile Robot.

Device driver for the Segway RMP 400, subscribes to two "segwayrmp" drivers

This driver subscribes to both the front and rear modules of the RMP400 and provides a common interface to control the unit. It wraps two "segwayrmp" drivers into a single interface and provides the same output to both units. It also averages the incoming odometry and returns the combined data.

This driver was developed by the Networked Robotics and Sensors Laboratory at The Pennsylvania State University, University Park, PA 16802. (

Note Some Dell laptops have trouble talking and staying connected to both rmp modules.
It is necessary to use a USB hub between the rmp units and the laptop.
Compile-time dependencies
Configuration requests
Configuration file options
  name "segwayrmp400"
  provides ["position2d:0" "position3d:0"]
  requires ["front:::position3d:1" "back:::position3d:2" "front2d:::position2d:1""back2d:::position2d:2"]
  fullspeed_data 1
Goutham Mallapragada, Anthony Cascone, Rich Mattes