segway_rmp¶

Message types¶

• segway_rmp/SegwayStatus
• segway_rmp/SegwayStatusStamped

segway_rmp/SegwayStatus¶

Constant:

LIGHT (int8):1 – TALL (int8):2 – HEAVY (int8):3 – BALANCE (int8):1 – TRACTOR (int8):2 – POWER_DOWN (int8):3 –

Field:

pitch_angle (float32) – pitch_rate (float32) – roll_angle (float32) – roll_rate (float32) – left_wheel_velocity (float32) – right_wheel_velocity (float32) – yaw_rate (float32) – servo_frames (float32) – left_wheel_displacement (float32) – right_wheel_displacement (float32) – forward_displacement (float32) – yaw_displacement (float32) – left_motor_torque (float32) – right_motor_torque (float32) – operation_mode (int8) – gain_schedule (int8) – ui_battery (float32) – powerbase_battery (float32) – motors_enabled (bool) –

This is the msg definition for the Segway Status struct.

Gain Schedule Constants

# This is the msg definition for the Segway Status struct.

# Gain Schedule Constants
int8    LIGHT=1
int8    TALL=2
int8    HEAVY=3

# Operation Mode Constants
int8    BALANCE=1
int8    TRACTOR=2
int8    POWER_DOWN=3

float32 pitch_angle                 # radians
float32 pitch_rate                  # radians/s
float32 roll_angle                  # radians
float32 roll_rate                   # radians/s
float32 left_wheel_velocity         # meters/s
float32 right_wheel_velocity        # meters/s
float32 yaw_rate                    # radians/s
float32 servo_frames                # frames/second
float32 left_wheel_displacement     # meters
float32 right_wheel_displacement    # meters
float32 forward_displacement        # meters
float32 yaw_displacement            # revolutions
float32 left_motor_torque           # Newton-meters
float32 right_motor_torque          # Newton-meters
int8    operation_mode              # Balance, Tractor, or Powered Down
int8    gain_schedule               # Light, Tall, or Heavy
float32 ui_battery                  # Volts
float32 powerbase_battery           # Volts

bool    motors_enabled              # Enabled (true) or E-Stopped (false)

segway_rmp/SegwayStatusStamped¶

Field:	header (std_msgs/Header) – segway (segway_rmp/SegwayStatus) –

Header       header                      # Timestamp, sequence number, and frame id

SegwayStatus segway                      # Segway Status information