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Hi William,<br>
<br>
Thanks for the quick reply.<br>
<br>
On 23/06/11 18:45, William Woodall wrote:
<blockquote
cite="mid:BANLkTimnFF0KG26UarB=eGnM1__rkfCA_w@mail.gmail.com"
type="cite">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.
<div> <br>
</div>
<div>I literally just finished the underlying segway library (<a
moz-do-not-send="true"
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>
</blockquote>
Your new libsegwayrmp library sounds great. I'm also mainly using
linux so having it working with the default linux VCP interface is
definitely a bonus. <br>
<br>
<blockquote
cite="mid:BANLkTimnFF0KG26UarB=eGnM1__rkfCA_w@mail.gmail.com"
type="cite">
<div>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.</div>
<div><br>
</div>
</blockquote>
Yes. I've learnt my lesson about having the segway on blocks. The
shocked look on my face when the segway took off would probably have
made one of those funniest home video type shows :). I (stupidly)
didn't look at the source and wasn't expecting the IRI test program
to move the robot. I guess I just thought it would print information
to the screen to the effect that it had established the connection
and everything was looking good. <br>
<br>
<blockquote
cite="mid:BANLkTimnFF0KG26UarB=eGnM1__rkfCA_w@mail.gmail.com"
type="cite">
<div>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.</div>
<div><br>
</div>
</blockquote>
Ok. I'm sure I had no other nodes running so the wheels spinning was
not the expected behaviour :).<br>
<br>
Thanks very much for the offer to help me debug the problem
tomorrow. However I won't have access to the segway again till
Monday so I'm happy to wait for a bit. I'll take a look at your
reposi your code and try and get things going again on Monday. And
hopefully, I can be of some service even if it is just testing your
driver out on an rmp100. <br>
<br>
Regards,<br>
Dave<br>
<br>
<br>
<br>
<blockquote
cite="mid:BANLkTimnFF0KG26UarB=eGnM1__rkfCA_w@mail.gmail.com"
type="cite">
<div>Good night,</div>
<div><br clear="all">
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
William Woodall<br>
Graduate Software Engineering<br>
Auburn University<br>
<a moz-do-not-send="true" href="mailto:w@auburn.edu"
target="_blank">w@auburn.edu</a><br>
<a moz-do-not-send="true" href="mailto:wjwwood@gmail.com"
target="_blank">wjwwood@gmail.com</a>
<div><a moz-do-not-send="true" 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"><<a moz-do-not-send="true"
href="mailto:daver_ml@gemarex.com.au">daver_ml@gemarex.com.au</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;"> Hi all,<br>
<br>
I'm trying to get the segway_rmp stack<br>
(<a moz-do-not-send="true"
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'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's 'test_segway_rmp_200' 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 "Segway Ready". 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>
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