Segway RMP

###Steps for operating the RMP via ROS

• Plug in the Segway
• Run roscore
• Turn on Segway, enable tractive
• Button mash rosrun segway_rmp_node segway_rmpX until it stops segfaulting...
• In a new terminal, run rosrun segway_rmp_node segway_rmpX once more. (You can get rid of the old shell instance)
• You can print out the data streaming from the RMP with rostopic echo /segway_rmp_node/segway_status. /segway_rmp_node/odom will show all of the inertial and odometry data, and /segway_rmp_node/cmd_vel will echo the last velocity command given, which is helpful for debugging.
• rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/segway_rmp_node/cmd_vel

Dependencies

• Pygame
  • http://stackoverflow.com/a/14026861/422096