David, I am actually in the middle of revamping the segway-rmp-ros-pkg to include support for both usb and serial communication, and in the process I am changing a lot about the way the node works.  If I remember correctly there rmp100 series have different constants (for determining wheel speed, integrated position, etc...) because it has different wheel sizes and such to the rmp200, I am including an option in my new node to support both the rmp200/400 and the rmp50/100, but that doesn&#39;t exist just yet.<div>

<br></div><div>I literally just finished the underlying segway library (<a href="http://williamjwoodall.com/2011/06/21/my-segway-rmp-library-libsegwayrmp/">http://williamjwoodall.com/2011/06/21/my-segway-rmp-library-libsegwayrmp/</a>) and rewrote most of the ROS node today, it should be ready by the end of the week.</div>

<div><br></div><div>Blocks are _always_ a good idea, the Segway RMP&#39;s are very powerful machines and always command some respect.  I think the IRI test program should warn you, but I know there are warnings in the comments of the source of the test program, not that I would expect anyone to look there first.</div>

<div><br></div><div>The ROS node shouldn&#39;t move unless messages are being published on the /cmd_vel topic, but I have not explicitly tested the RMP100 so this might be new behavior.  If you can wait, the new packages will be out soon, or I am happy to try and help you debug this version more tomorrow.</div>

<div><br></div><div>Good night,</div><div><br clear="all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Graduate Software Engineering<br>Auburn University<br><a href="mailto:w@auburn.edu" target="_blank">w@auburn.edu</a><br>

<a href="mailto:wjwwood@gmail.com" target="_blank">wjwwood@gmail.com</a><div><a href="http://williamjwoodall.com" target="_blank">williamjwoodall.com</a><br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~</div><br>
<br><br><div class="gmail_quote">On Thu, Jun 23, 2011 at 2:10 AM, David Rajaratnam <span dir="ltr">&lt;<a href="mailto:daver_ml@gemarex.com.au">daver_ml@gemarex.com.au</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

Hi all,<br>
<br>
I&#39;m trying to get the segway_rmp stack<br>
(<a href="http://www.ros.org/wiki/segway_rmp" target="_blank">http://www.ros.org/wiki/segway_rmp</a>) working and was wondering if there<br>
was anyone else using these drivers (which wrap the IRI drivers) to<br>
connect to a segway rmp100.<br>
<br>
I haven&#39;t found too much information on the difference between the rmp<br>
100 and 200 so was assuming/hoping that it would work the same - my<br>
reasoning was that someone else on the team got the segway working under<br>
player using some general rmp player driver.<br>
<br>
Anyway, when I ran the iri&#39;s &#39;test_segway_rmp_200&#39; program it sent the<br>
segway hurtling into the desk. To protect myself (and everyone else)<br>
from my stupidity the segway is now on blocks. I next ran the<br>
segway_rmp200 ros node and the node looked like it started up ok with an<br>
info message saying something like &quot;Segway Ready&quot;.  However, it had a<br>
similar result as before where the wheels were sent spinning wildly till<br>
some sort of overload failsafe kicked in.<br>
<br>
So I was wondering if anyone else is trying to do the same - or am I<br>
doing something obviously stupid.<br>
<br>
Cheers,<br>
Dave<br>
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</blockquote></div><br></div>