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Only released in EOL distros:   hydro

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)

• velocity command

/rmp440le/deadman (rmp_msgs/BoolStamped)

• deadman, needs to be pressed (true) for velocity commands to be processed.

/rmp440le/audio_cmd (rmp_msgs/AudioCommand)

• audio command

Published Topics

/rmp440le/odom (nav_msgs/Odometry)

• odometry

/rmp440le/joint_states (sensor_msgs/JointState)

• joint states

/rmp440le/inertial (sensor_msgs/Imu)

• inertial measurements

/rmp440le/pse (sensor_msgs/Imu)

• pitch state estimate

/rmp440le/motor_status (rmp_msgs/MotorStatus)

• motor status (current, power, ...)

/rmp440le/battery (rmp_msgs/Battery)

• battery status (charge level, temperature, ...)

/rmp440le/fault_status (rmp_msgs/FaultStatus)

• report faults

Parameters

transport_type (string, default: udp)

• specify transport type: udb, usb

ip_address (string, default: 192.168.0.40)

• specify the ip address of the rmp. This parameter is only used when transport_type is set to udp.

port_number (int, default: 8080)

• specify the port number of the rmp. This parameter is only used when transport_type is set to udp.

device_port (string, default: /dev/ttyACM0)

• specify a serial device. This parameter is only used when transport_type is set to usb.

update_frequency (double, default: 50.0)

• specify the node process rate, [0.5, 100.0][Hz]

odometry_topic (string, default: /rmp440le/odom)

• odometry topic

joint_states_topic (string, default: /rmp440le/joint_states)

• joint states topic

inertial_topic (string, default: /rmp440le/inertial)

• inertial topic

pse_topic (string, default: /rmp440le/pse)

• pse topic

motor_status_topic (string, default: /rmp440le/motor_status)

• motor status topic

battery_topic (string, default: /rmp440le/battery)

• battery topic

velocity_command_topic (string, default: /rmp440le/base/vel_cmd)

• velocity command topic

deadman_topic (string, default: /rmp440le/deadman)

• deadman topic

audio_command_topic (string, default: /rmp440le/audio_cmd)

• audio command topic

fault_status_topic (string, default: /rmp440le/fault_status)

• fault status topic

max_translational_velocity (double, default: 8.0)

• maximum translational velocity [0.0, 8.047][m/s]

max_turn_rate (string, default: 4.4)

• maximum turn rate [0.0, 4.5][rad/s]