[ros-users] segway_rmp driver and rmp100

William Woodall wjwwood at gmail.com
Thu Jun 23 08:45:51 UTC 2011

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't exist just yet.

I literally just finished the underlying segway library (
and rewrote most of the ROS node today, it should be ready by the end of the

Blocks are _always_ a good idea, the Segway RMP'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.

The ROS node shouldn'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.

Good night,

William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com

On Thu, Jun 23, 2011 at 2:10 AM, David Rajaratnam
<daver_ml at gemarex.com.au>wrote:

> Hi all,
> I'm trying to get the segway_rmp stack
> (http://www.ros.org/wiki/segway_rmp) working and was wondering if there
> was anyone else using these drivers (which wrap the IRI drivers) to
> connect to a segway rmp100.
> I haven't found too much information on the difference between the rmp
> 100 and 200 so was assuming/hoping that it would work the same - my
> reasoning was that someone else on the team got the segway working under
> player using some general rmp player driver.
> Anyway, when I ran the iri's 'test_segway_rmp_200' program it sent the
> segway hurtling into the desk. To protect myself (and everyone else)
> from my stupidity the segway is now on blocks. I next ran the
> segway_rmp200 ros node and the node looked like it started up ok with an
> info message saying something like "Segway Ready".  However, it had a
> similar result as before where the wheels were sent spinning wildly till
> some sort of overload failsafe kicked in.
> So I was wondering if anyone else is trying to do the same - or am I
> doing something obviously stupid.
> Cheers,
> Dave
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