ROS wrapper for Segway RMP440 Omni

segway
omni

asked 2013-03-13 08:22:39 -0600

xylo
184 ●8 ●14 ●22

updated 2013-03-15 07:46:54 -0600

Is anyone developing a ROS wrapper for Segway RMP440 Omni or has already developed it? http://rmp.segway.com/about-segway-robotics/segway-rmp400-omni/

Thanks in advance!

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answered 2013-03-14 04:50:43 -0600

david.hodo

395 ●11 ●16 ●21 http://www.davidwhodo.com/

updated 2013-03-15 11:35:33 -0600

I assume the RMP440 Omni uses the new protocol used by the RMP440 (http://rmp.segway.com/about-segway-robotics/segway-rmp440-le-and-se/). If so William's driver won't work on it. We have a student in our group currently working on a wrapper for the new protocol. I'm not sure of the status, but I'll check on it and try to post shortly.

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@david.hodo I think you're right. The RMP400 Omni is a new model that came out last year. Look forward to hearing the student's progress. Thanks!

xylo ( 2013-03-14 06:44:38 -0600 )edit

I know someone who contacted me about supporting the x440 (similar protocol), but when I declined he said that he implemented his own. I have pointed him to this question, so hopefully he can chime in later.

William ( 2013-03-14 13:05:33 -0600 )edit

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answered 2013-03-14 20:36:45 -0600

Georg
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updated 2013-03-15 07:32:26 -0600

William

17335 ●101 ●182 ●262 http://wjwwood.io/

If it is a 400 Omni, it should work with the old protocol and Willam's lib[1] should be the starting point. Probably it needs to be adapted to the nonholonomic kinematics.

If it is a 440 Omni, it uses the new API.

Best Georg

EDIT: [1] https://github.com/segwayrmp/

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Oops made a mistake. It's the 440 Omni. (The Segway site is confusing.)

xylo ( 2013-03-15 07:48:16 -0600 )edit

I will try to get approval by my company for releasing my lib and ros node as open source. I do not yet support the 3D motion commands for the omni, but this should be a minor task.

Georg ( 2013-03-17 10:41:57 -0600 )edit

@Georg that'd really awesome! Please let me know. I have no use for 3D motion at least in the near future. Thanks!

xylo ( 2013-03-18 05:36:16 -0600 )edit

Hello @George, Just following up by asking if any libraries have been released? Thanks