segwayrmp version 0.0.2 08/12/2014

Description: segwayrmp provides a ROS interface to Segway Robotics Mobility Platforms. It consists of different packages whose purpose is described below:

• rmp_base: controls the base and publishes sensor data and status related information
• rmp_teleop: provides a joystick interface to control the base
• rmp_description: provides a URDF (http://wiki.ros.org/urdf) description of the platform(s)
• rmp_msgs: defines RMP sepecific messages

Requirements:

• ROS Hydro Medusa (http://wiki.ros.org/hydro) musts be installed

Installation:

• cd to the segwayrmp directory
• update your shell with your ros environment configuration: source /path/to/ros/install/setup.bash (typically /opt/ros/hydro/setup.bash)
• catkin_make install

Usage:

• check that everything is properly connected :-)
• edit the launch files according to your rmp/joystick setup
• source the setup file from the install/devel directory, for example source install/setup.bash
• start the base node: roslaunch rmp_base rmp440le.launch
• start the joystick: roslaunch rmp_teleop joystick.launch

Copyright: Copyright (C) 2014 SEGWAY Inc.

License: Please read LICENSE.txt

Contact: SRI International http://www.sri.com/ thomas.decandia@sri.com