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SegwayRmp [Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX] Controls Segway RMP: a two-wheeled balancing robot. More... Provides Home Odometry2d [SegwayRmp.Provides.Odometry2d] Odometry3d [SegwayRmp.Provides.Odometry3d] VelocityControl2d [SegwayRmp.Provides.VelocityControl2d] Power [SegwayRmp.Provides.Power] EStop Status 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.ProvideOdometry3d (bool) Whether or not to update the Odometry3d interface Default: 1 SegwayRmp.Config.Odometry3dPublishInterval (double) [s] How often to send 3D odometry information to the IceStorm server (iff ProvideOdometry3d is set) 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 VehicleDescription Default: 4.9050 SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxForwardAcceleration (m/s/s) Default: 1.0 SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxReverseAcceleration (m/s/s) Default: 1.0 SegwayRmp.Config.VehicleDescription.Control.VelocityDifferential.MaxRotationalAcceleration (deg/s/s) Default: 45.0 SegwayRmp.Config.VehicleDescription.PlatformToVehicleTransform (Frame3d) [m, deg] Position of the vehicle's local coord system with respect to the platform's local coord system. Format: x y z roll pitch yaw (space separated) Default: 0.0 0.0 0.0 0.0 0.0 0.0 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.VehicleToGeometryTransform (Frame3d) [m, deg] Position of the cylinder centre with respect to the vehicle'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 0.0 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.

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