## repository: https://github.com/segwayrmp/segway-rmp-ros-pkg.git
<<StackHeader(segway_rmp)>>

<<TableOfContents(4)>>

== Overview ==

This stack contains packages related to Segway's RMP series robot platforms.  This is based on the libsegwayrmp library.

== Supported Hardware ==

There are several variations of Segway RMP's available, but only a few have been tested, if you would like to test one of the platforms or if you need a platform/feature that is not currently supported, [[mailto:wjwwood@gmail.com|email me]].

||'''Segway RMP Model'''||'''Support'''||'''Tractor Mode'''||'''Balance Mode'''||'''Interface Method'''||
||RMP50||<#FFFF00> Needs Testing||<#FFFF00> Needs Testing||<#ECECEC> N/A||usb, serial||
||RMP100||<#FFFF00> Needs Testing||<#FFFF00> Needs Testing||<#FF0000> Needs Testing*||usb, serial||
||RMP200||<#00FF00> Supported||<#00FF00> Supported||<#FF0000> Needs Testing*||usb, serial||
||RMP400||<#FFFF00> Needs Testing||<#FFFF00> Needs Testing||<#ECECEC> N/A||usb, serial||

* ''This mode is untested by me, because I don't have a balancing mode Segway.  If you would like to test this out, [[mailto:wjwwood@gmail.com|email me]] and I will help you use my library in balance mode.''

== Installing ==
<<Anchor(Installing)>>

First you need to get a copy of the repository downloaded to your local machine in a directory in your ROS_PACKAGE_PATH.

You can simply download the software by doing a git clone of the github.com repo:

{{{
git clone git://github.com/wjwwood/segway-rmp-ros-pkg.git
}}}

And then add it to your ROS_PACKAGE_PATH.

OR

You could use [[rosinstall]] to install this stack (and potentially others at the same time) that way.  Here is an example [[rosinstall]] file:

segway-rmp-ros-pkg.rosinstall
{{{
- git:
    uri: 'git://github.com/wjwwood/segway-rmp-ros-pkg.git'
    local-name: segway-rmp-ros-pkg
}}}

Then you can install it with this command:

{{{
rosinstall ~/path/to/install/into ~/path/to/segway-rmp-ros-pkg.rosinstall
}}}

Once you have the stack in your ROS setup, you can build the [[segway_rmp]] stack, by running:

{{{
#!shell
roscd segway_rmp
rosmake segway_rmp --rosdep-install
}}}

== Older Versions ==

There is an older version of this ROS stack that was based on the drivers from [[http://wikiri.upc.es/index.php/Robotics_Lab_Repository|Institut de Robòtica i Informàtica Industrial]].  If you would like to use those packages instead you can checkout their tag in git:

{{{
roscd segway_rmp
git checkout iri_version
}}}

== Acknowledgments ==

The ROS nodes that interface with the RMP200 ATV and RMP400 used to be based on the [[http://wikiri.upc.es/index.php/Segway_RMP_200_driver|segway_rmp200]] and [[http://wikiri.upc.es/index.php/Segway_RMP_400_driver|segway_rmp400]] drivers from [[http://wikiri.upc.es/index.php/Robotics_Lab_Repository|Institut de Robòtica i Informàtica Industrial]].

Thanks to Evan Jensen from the Ingram School of Engineering at Texas State University for helping to test the RMP400 portion of the drivers.

== Bug Reports & Feature Requests ==

I would appreciate anyone reporting bugs or requesting features by emailing me at [[mailto:wjwwood@gmail.com|wjwwood@gmail.com]].

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