Segway RMP 200 driver
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Description
This driver is in charge to control the motion of a SegwayRMP200, as well as monitoring its state and retrieving all the feedback information sent by the platform.
This driver has two internal threads completely transparent to the end user: one responsible of sending the periodic command data to the robot platform with the desired translational and rotational velocities (every 50 ms), and the second one responsible of retrieving all the data sent by the platform (one data packet is sent every 10 ms by the robot).
Dependencies
- cmake a cross-platform build system.
- doxygen and graphviz to generate the documentation.
- libusb for libftd2xx
- libftd2xx for communication with FTDI chip
- Utilities library Basic tools used by the driver
- Communications library for the USB to CAN converter of the robot. Install FTDI Manufacturers driver to include support for the platform USB interface.
Under linux all of these utilities are available in ready-to-use packages.
Repository
Browse source code at
https://devel.iri.upc.edu/pub/labrobotica/drivers/segway_rmp_200/trunk
To download this repository execute the following command (developers only):
svn checkout https://devel.iri.upc.edu/labrobotica/drivers/segway_rmp_200/trunk segway_rmp_200
An anonymous access is also available:
svn checkout https://devel.iri.upc.edu/pub/labrobotica/drivers/segway_rmp_200/trunk segway_rmp_200
Use https://devel.iri.upc.edu/labrobotica/drivers/segway_rmp_200 to include this library in the dependencies file of a existing project or -d segway_rmp_200 to include it at creation time.
You can find the documentation here
FAQ
Q: How to connect to the segway platforms without root privileges?
A: It is necessary to add a new rule that instructs Ubuntu allow access to any usb device with a segway signature to all users. To do that:
- Create (as root) a new file in the /etc/udev/rules.d folder.
cd /etc/udev/rules.d sudo vim 99-segway-usb.rules
(both the priority and the name can be changed)
- Copy the following line into the previous file:
SUBSYSTEM=="usb", ATTR{manufacturer}=="Segway", GROUP="dialout"
- Re-start the udev service to take into account the changes. Some times this action is not enough an it is necessary to restart the computer for the changes to take effect.
sudo service udev restart
- That's it. This should give access to the segway platforms to any user already in the dialout group.
