rmp_msgs

Summary

rmp_msgs
Version:

0.0.1
Description:

ROS Messages for the Segway RMP
Maintainers:
  • Russell Toris <rctoris AT wpi DOT edu>
Licenses:
  • BSD
Urls:
Authors:
  • Chris Dunkers <cmdunkers AT wpi DOT edu>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

rmp_msgs/RMPCommand
Constant:
  • RMP_MOTION_CMD_ID (uint32):1280 –
  • RMP_OMNI_MOTION_CMD_ID (uint32):1536 –
  • RMP_CFG_CMD_ID (uint32):1281 –
  • RMP_CMD_SET_OPERATIONAL_MODE (uint8):32 –
  • RMP_CMD_NONE (uint8):0 –
  • DISABLE_REQUEST (uint8):1 –
  • POWERDOWN_REQUEST (uint8):2 –
  • DTZ_REQUEST (uint8):3 –
  • STANDBY_REQUEST (uint8):4 –
  • TRACTOR_REQUEST (uint8):5 –
  • BALANCE_REQUEST (uint8):6 –
Field:
  • header (std_msgs/Header) –
  • cmd_id (uint32) –
  • arg1 (float32) –
  • arg2 (float32) –
  • arg3 (float32) –

valid command IDs for the Segway [RMP_MOTION_CMD_ID, norm_vel_cmd, norm_yaw_cmd] [RMP_OMNI_MOTION_CMD_ID, norm_vel_cmd, norm_yaw_cmd, angle_cmd_deg] [RMP_CFG_CMD_ID, gp_cmd, gp_param]

# valid command IDs for the Segway
# [RMP_MOTION_CMD_ID, norm_vel_cmd, norm_yaw_cmd]
# [RMP_OMNI_MOTION_CMD_ID, norm_vel_cmd, norm_yaw_cmd, angle_cmd_deg]
# [RMP_CFG_CMD_ID, gp_cmd, gp_param]
uint32 RMP_MOTION_CMD_ID = 1280
uint32 RMP_OMNI_MOTION_CMD_ID = 1536
uint32 RMP_CFG_CMD_ID = 1281

# arg1 some possible values (can also be linear velocity )
uint8 RMP_CMD_SET_OPERATIONAL_MODE = 32
uint8 RMP_CMD_NONE = 0 

# arg2 some possible values (can also be angular velocity)
uint8 DISABLE_REQUEST   = 1
uint8 POWERDOWN_REQUEST = 2
uint8 DTZ_REQUEST       = 3
uint8 STANDBY_REQUEST   = 4
uint8 TRACTOR_REQUEST   = 5
uint8 BALANCE_REQUEST   = 6

# Message content
Header header
uint32 cmd_id
float32 arg1
float32 arg2
float32 arg3
rmp_msgs/RMPBatteryStatus
Field:
  • header (std_msgs/Header) –
  • soc_items[] (string) –
  • soc_values[] (float32) –

The battery statuses of each battery on the Segway RMP Items are the names of the battery and values are the state of charges (soc) in percentage value.

# The battery statuses of each battery on the Segway RMP
# Items are the names of the battery and values are the state of charges (soc) in percentage value.
Header header
string[] soc_items
float32[] soc_values
rmp_msgs/RMPFeedback
Field:
  • header (std_msgs/Header) –
  • sensor_items[] (string) –
  • sensor_values[] (float32) –
  • fault_status_items[] (string) –
  • fault_status_values[] (uint32) –
  • ip_info[] (string) –
  • ip_values[] (string) –

Divides RMP feedback items and values into float and int categories. Items are the names of the feedback parameter and values are the numerical values.

# Divides RMP feedback items and values into float and int categories.
# Items are the names of the feedback parameter and values are the numerical values.
Header header
string[] sensor_items
float32[] sensor_values
string[] fault_status_items
uint32[] fault_status_values
string[] ip_info
string[] ip_values