5.15.0-92-generic
noetic
libsdl1.2-dev
qt5-default
git clone
cd
catkin_make_isolated
source ./install_isolated/setup.bash
./install_isolated/bin/segwayrmp_gui
./src/libsegwayrmp/bin/segwayrmp_interactive_example serial /dev/ttyUSB0
./src/libsegwayrmp/bin/segwayrmp_interactive_example usb index 0
./src/libsegwayrmp/bin/segwayrmp_interactive_example usb serial_number "00000056"
...
#include "segwayrmp/segwayrmp.h"
...
segwayrmp::SegwayRMP rmp(interface_type);
...
rmp.connect();
rmp.setOperationalMode(segwayrmp::balanced);
while(true) {
rmp.move(0.1, 0);
usleep(100000);
}
...
SegwayRMP()
SegwayRMP::SegwayRMP ( InterfaceType interface_type = serial,
SegwayRMPType segway_rmp_type = rmp200
)
Constructs the SegwayRMP object given the interface type.
Parameters
interface_type This must be can, usb, or serial. Default is usb.
segway_rmp_type This can be rmp50, rmp100, rmp200, or rmp400. Default is rmp200.
...
move()
void SegwayRMP::move ( float linear_velocity,
float angular_velocity
)
This command moves the base at a given linear and angular velocity. This assumes the max velocity scalar is set to 1.0.
Parameters
linear_velocity Forward/Reverse desired velocity of the vehicle in m/s.
angular_velocity Desired angular velocity of the vehicle in degrees/s, positive to is left.
...
setOperationalMode()
void SegwayRMP::setOperationalMode ( OperationalMode operational_mode )
Sets the operational mode.
Parameters
operational_mode This must be disabled, tractor, or balanced.
Institut de Robòtica i Informàtica Industrial
->right_wheel_velocity
->left_wheel_velocity
->pitch_angle
->pitch_rate
->roll_angle
->roll_rate
->yaw_rate
->left_wheel_displ
->right_wheel_displ
->forward_displ
->yaw_displ
->uptime
->left_torque
->right_torque
->ui_battery
->powerbase_battery
...
void CSegwayRMP200::init_threads(void)
{
this->thread_server = CThreadServer::instance();
this->read_thread_id = this->id + "_read_thread";
this->command_thread_id = this->id + "_command_thread";
this->heartbeat_thread_id = this->id + "_heartbeat_thread";
...
