Hey Everyone,<div><br></div><div>I have a Segway RMP400 that I&#39;ve been utilizing the player segway driver to run. I&#39;m beginning the transition over to ros and I have been trying to successfully connect to the rmp via a usb to can interface and the segway_apox package. I have sucessfully made that package along with serial_port. The default port value in the segway_node.cpp is &quot;/dev/ttyUSB2&quot; which I have changed to &quot;/dev/usbcanII0&quot; for the usb to can interface. I get the following errors when trying to start the segway_apox segway_node.</div>
<div><br></div><div><div>$ rosrun segway_apox segway_node </div><div>about to try to open [/dev/usbcanII0]</div><div>opened [/dev/usbcanII0] successfully</div><div>ahhhhhhh couldn&#39;t run tcgetattr()</div><div>terminate called after throwing an instance of &#39;std::runtime_error&#39;</div>
<div>  what():  couldn&#39;t initialize canbus on /dev/usbcanII0</div><div>/opt/ros/cturtle/ros/bin/rosrun: line 35:  7705 Aborted                 $exepath &quot;$@&quot;</div></div><div><br></div><div><br></div><div>I found the tcgetattr() function in serial.c inside of the segway_apox package, but I&#39;m stuck there.</div>
<div><br></div><div>any help would be much appreciated!</div><div><br></div><div>Thanks,</div><div><br></div><div>Kent</div><div><br></div>