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Only released in EOL distros:  

segwayrmp: rmp_base | rmp_description | rmp_msgs | rmp_teleop

Package Summary

The rmp_base package provides a ros interface to control a Segway Robotics Mobility Platform. In addition, navigation and status data are also published such as odometry, imu, mottor and battery status, ...

Overview

The rmp_base package provides a ros interface to control a Segway Robotics Mobility Platform (http://rmp.segway.com/). It supports USB and UDP interfaces.

Please refer to the RMP documentation for a description of the sensors' coordinate system.

This package has only been tested on the RMP 440LE (http://rmp.segway.com/about-segway-robotics/segway-rmp440-le-and-se/).

Quick Start

$ roslaunch rmp_base rmp440le.launch

Node

rmp_440le_node

ros interface to control a Segway RMP 440LE.

Subscribed Topics

/rmp440le/base/vel_cmd (geometry_msgs/TwistStamped) /rmp440le/deadman (rmp_msgs/BoolStamped) /rmp440le/audio_cmd (rmp_msgs/AudioCommand)

Published Topics

/rmp440le/odom (nav_msgs/Odometry) /rmp440le/joint_states (sensor_msgs/JointState) /rmp440le/inertial (sensor_msgs/Imu) /rmp440le/pse (sensor_msgs/Imu) /rmp440le/motor_status (rmp_msgs/MotorStatus) /rmp440le/battery (rmp_msgs/Battery) /rmp440le/fault_status (rmp_msgs/FaultStatus)

Parameters

transport_type (string, default: udp) ip_address (string, default: 192.168.0.40) port_number (int, default: 8080) device_port (string, default: /dev/ttyACM0) update_frequency (double, default: 50.0) odometry_topic (string, default: /rmp440le/odom) joint_states_topic (string, default: /rmp440le/joint_states) inertial_topic (string, default: /rmp440le/inertial) pse_topic (string, default: /rmp440le/pse) motor_status_topic (string, default: /rmp440le/motor_status) battery_topic (string, default: /rmp440le/battery) velocity_command_topic (string, default: /rmp440le/base/vel_cmd) deadman_topic (string, default: /rmp440le/deadman) audio_command_topic (string, default: /rmp440le/audio_cmd) fault_status_topic (string, default: /rmp440le/fault_status) max_translational_velocity (double, default: 8.0) max_turn_rate (string, default: 4.4)


2019-11-30 13:08