[ros-users] Segway_apox driver

Morgan Quigley mquigley at cs.stanford.edu
Fri Nov 12 22:34:19 UTC 2010

Hi Kent,

I haven't been maintaining that package for over a year now; we don't
use that hardware anymore and thus it has probably drifted out of
date. If you want to maintain it, feel free to add it to your
repository and PM me; i'll then delete it from ours. I left if there
simply to serve as a starting point.

It was written for an RMP100, which may have a different CAN packet
structure. We may also have a different USB->canbus widget, which may
require hacking around in the canbus packet generator and parser.

I wonder if it doesn't like the serial-port calls because your CANbus
adapter is different from the one we wrote it for ?


On Fri, Nov 12, 2010 at 2:14 PM, kent williams <k3nt00 at gmail.com> wrote:
> Hey Everyone,
> I have a Segway RMP400 that I've been utilizing the player segway driver to
> run. I'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 "/dev/ttyUSB2"
> which I have changed to "/dev/usbcanII0" for the usb to can interface. I get
> the following errors when trying to start the segway_apox segway_node.
> $ rosrun segway_apox segway_node
> about to try to open [/dev/usbcanII0]
> opened [/dev/usbcanII0] successfully
> ahhhhhhh couldn't run tcgetattr()
> terminate called after throwing an instance of 'std::runtime_error'
>   what():  couldn't initialize canbus on /dev/usbcanII0
> /opt/ros/cturtle/ros/bin/rosrun: line 35:  7705 Aborted
> $exepath "$@"
> I found the tcgetattr() function in serial.c inside of the segway_apox
> package, but I'm stuck there.
> any help would be much appreciated!
> Thanks,
> Kent
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