Sensor Data Feedback and Visualization

Here is a list of common sensors that may have been included with your purchase and a little information on how to use them.

For each of these, data can be visualized in various ways such as with rviz or rqt_plot. You can read about some of these visualization tools at the Tools page.

SICK TiM5xx 2d Laser Scanner

This is the most common vision sensor included with a Stanley Innovation RMP V3.

The data from this sensor is processed and combined if you have multiple co-planar lasers. This data is typically published on topic /segway/filtered_scan

Velodyne VLP16 3d Laser Scanner

This is a 16-plane 3d laser scanner. This data is typically published on the topic /segway/filtered_scan_3d

UM7 IMU

This is a 9 DoF inertial sensor and AHRS. This data is typically published on the topics /segway/feedback/ext_imu.

GPS/GNSS

We will often use the Garmin 18x LVC GPS. This data is typically published on the topic /segway/feedback/gps

Flea3 Machine Vision Camera

The Flea3 is a line of compact, color machine vision cameras. It's data is typically published on /camera/image_rect_color. See image_proc for more information.

Segway Base Feedback

Your Segway RMP V3 propulsion system provides a significant amount of data regarding the state and performance of the base system.

Auxiliary Power

The topic /segway/feedback/aux_power contains information about the auxiliary battery system such as the voltage, current, and state of charge.

Dynamics

The topic /segway/feedback/dynamics contains information such as wheel speeds, vehicle target velocities and vehicle measured velocity and acceleration.

Propulsion

The topic /segeway/feedback/propulsion contains information about the base propulsion system including the instantaneous power and total energy usage for each motor drive, propulsion battery state of charge and temperature, as well as motor current and current limits.

Status

The topic /segway/feedback/status contains information about the current operational state (such as "tractor mode" or "standby mode"), fault status, and operational time.