SegwayRmp
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Controls Segway RMP: a two-wheeled balancing robot. More...

Controls Segway RMP: a two-wheeled balancing robot.

Provides

• orca_interface_home
• orca_interface_odometry2d [SegwayRmp.Provides.Odometry2d]
• orca_interface_odometry3d [SegwayRmp.Provides.Odometry3d]
• orca_interface_velocitycontrol2d [SegwayRmp.Provides.VelocityControl2d]
• orca_interface_power [SegwayRmp.Provides.Power]
• orca_interface_estop
• orca_interface_status
• orca_interface_tracer

Drivers

This component dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::SegwayRmp. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers.

• SegwayRmp drivers

Configuration

• SegwayRmp.Config.DriverLib (string)
  • Name of shared library containing the hardware driver
  • Valid options are { 'libHydroSegwayRmpAcfrCan.so', 'libHydroSegwayRmpAcfrUsb.so', 'libHydroSegwayRmpPlayerClient.so', 'libHydroSegwayRmpFake.so' }
  • Default: 'libHydroSegwayRmpAcfrCan.so'

• SegwayRmp.Config.EnableMotion (bool)
  • Allow motion commands or not. Convinient for testing when you want to make sure that the platform will not move.
  • Default: 1

• SegwayRmp.Config.DriveInReverse (bool)
  • If set, reverse all controls and odometry (to all the RMP to be driven in reverse as though it were driving forward).
  • Default: 0

• SegwayRmp.Config.Odometry2dPublishInterval (double) [s]
  • How often to send 2D odometry information to the IceStorm server
  • Valid values:
    • t<0 : send every new data point
    • t>0 : send approximately every t seconds
  • Default: 0.1 (10Hz)

• SegwayRmp.Config.Odometry3dPublishInterval (double) [s]
  • How often to send 3D odometry information to the IceStorm server. Set this to a high value if you don't use 3D information and are concerned about bandwidth/cpu load.
  • Valid values:
    • t<0 : send every new data point
    • t>0 : send approximately every t seconds
  • Default: 0.1 (10Hz)

• SegwayRmp.Config.PowerPublishInterval (double) [s]
  • How often to send power information to the IceStorm server
  • Valid values:
    • t>0 : send approximately every t seconds
  • Default: 20.0

• SegwayRmp.Config.StatusPublishInterval (double) [s]
  • How often to send status information to the IceStorm server
  • Valid values:
    • t>0 : send approximately every t seconds
  • Default: 60.0

• SegwayRmp.Config.EnableEStop (bool)
  • If true, instantiate monitor the EStop interface.
  • Default: 0

• SegwayRmp.Config.EStop.KeepAlivePeriodSec (double) [s]
  • How frequently keep-alives need to arrive to keep the vehicle happy.
  • Default: 3

Parameters describing the vehicle (see orca::VehicleDescription for details)

• SegwayRmp.Config.VehicleDescription.Control.Type (string)
  • valid values: 'VelocityDifferential'
  • Default: 'VelocityDifferential'

• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxForwardSpeed (m/s)
  • Default: 1.0
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxReverseSpeed (m/s)
  • valid values: must be same as forward speed.
  • Default: 1.0
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxTurnrate (deg/s)
  • Absolute max turnrate (assumed max turnrate at 0m/s)
  • Default: 45.0
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxLateralAcceleration (m/s/s)
  • Max centripital acceleration during a turn (limits max turnrate at speed).
    • See orca_interface_vehicleDescription
  • Default: 4.9050
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxForwardAcceleration (m/s/s)
  • Default: 9.0
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxReverseAcceleration (m/s/s)
  • Default: 9.0
• SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxRotationalAcceleration (deg/s/s)
  • Default: 45.0
• SegwayRmp.Config.VehicleDescription.Geometry.Type (string)
  • valid values: 'Cylindrical'
  • Default: 'Cylindrical'
• SegwayRmp.Config.VehicleDescription.Geometry.Cylindrical.Radius (m)
  • Radius of the vehicle's bounding cylinder
  • Default: 0.25
• SegwayRmp.Config.VehicleDescription.Geometry.Cylindrical.Height (m)
  • Height of the vehicle's bounding cylinder
  • Default: 1.0
• SegwayRmp.Config.VehicleDescription.Geometry.Cylindrical.PlatformToGeometryTransform (Frame3d) [m, deg]
  • Position of the cylinder centre with respect to the platform's local coord system. (cylinder extends in +/- z direction from here)
  • Format: x y z roll pitch yaw (space separated)
  • Default: 0.0 0.0 0.35 0.0 0.0 0.0

See also:

Individual drivers may have additional configuration parameters which are specified as SegwayRmp.Config.XXX. See driver documentation.

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Authors

Alex Makarenko & Alex Brooks.