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segwayrmp [Drivers] 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. Compile-time dependencies libcanlib (from Kvaser) Notes Because of its power, weight, height, and dynamics, the Segway RMP is a potentially dangerous machine. Be very careful with it. Although the RMP does not actually support motor power control from software, for safety you must explicitly enable the motors using a PLAYER_POSITION_MOTOR_POWER_REQ or PLAYER_POSITION3D_MOTOR_POWER_REQ (depending on which interface you are using). You must also enable the motors in the command packet, by setting the state field to 1. For safety, this driver will stop the RMP (i.e., send zero velocities) if no new command has been received from a client in the previous 400ms or so. Thus, even if you want to continue moving at a constant velocity, you must continuously send your desired velocities. Most of the configuration requests have not been tested. Currently, the only supported type of CAN I/O is "kvaser", which uses Kvaser, Inc.'s CANLIB interface library. This library provides access to CAN cards made by Kvaser, such as the LAPcan II. However, the CAN I/O subsystem within this driver is modular, so that it should be pretty straightforward to add support for other CAN cards. Provides position This interface returns odometry data, and accepts velocity commands. position3d This interface returns odometry data (x, y and yaw) from the wheel encoders, and attitude data (pitch and roll) from the IMU. The driver accepts velocity commands (x vel and yaw vel). power Returns the current battery voltage (72 V when fully charged). Configuration requests position interface PLAYER_POSITION_POWER_REQ position3d interface PLAYER_POSITION_POWER_REQ Requires none Configuration file options canio (string) Default: "kvaser" Type of CANbus driver. max_xspeed (length / sec) Default: 0.5 m/s Maximum linear speed max_yawspeed (angle / sec) Default: 40 deg/sec Maximum angular speed Example driver ( name "segwayrmp" provides ["position:0" "position3d:0" "power:0"] ) Authors John Sweeney, Brian Gerkey, Andrew Howard