Segway RMP
[Models]

The SegwayRMP model simulates an ActivMedia SegwayRMP mobile robot base. Note that the sonars are not simulated.

libgazebo interfaces

This model supports the position interface.

Player drivers

Position information is available through the gz_position driver.

Attributes

The following attributes are supported.

id (string)
- The model ID string (used by libgazebo to identify models).
- Default: (empty)

xyz (float tuple, meters)
- Model position (x, y, z, in meters).
- Default: 0 0 0

rpy (float tuple, degrees)
- Model orientation in Euler angles: roll, pitch, yaw.
- Default: 0 0 0

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

Bodies

The following bodies are created by this model.

canonical
- The canonical (default) body.

Example

<model:SegwayRMP>
  <xyz>0 0 0</xyz>
</model:SegwayRMP>

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Authors

Andrew Howard, Marin Kobilarov

Last updated 12 September 2005 21:38:45