Search found 11 matches

by trautman
Wed Aug 28, 2013 2:49 pm
Forum: Centralized Controller Platforms
Topic: vehicle odometry 440 omni flex chassis
Replies: 1
Views: 4069

vehicle odometry 440 omni flex chassis

Hello:

Is there a way to extract the wheel odometry from the 440 omni flex vehicle? I.e., the x,y,rotation values at time t?

Thanks!
by trautman
Sun Aug 18, 2013 6:54 pm
Forum: Centralized Controller Platforms
Topic: 440 omni flex chassis---center of rotation DNE center of veh
Replies: 2
Views: 4959

440 omni flex chassis---center of rotation DNE center of veh

We did precision tests on a rotating 440 omni flex chassis yesterday, and had some interesting results: 1. We mounted a laser tracker target (+/- .001 in accuracy) on a corner on the flex. 2. We commanded the vehicle to execute a circle. 3. We continuously collected the target data. 4. The omni 440 ...
by trautman
Fri Aug 16, 2013 6:26 pm
Forum: Centralized Controller Platforms
Topic: How to maintain motion commands (440 Omni)
Replies: 5
Views: 8579

Re: How to maintain motion commands (440 Omni)

The problem I think is the vehicle automatically decelerates during the execution of each velocity command, but what we would like is have it maintain that velocity for a duration until a new velocity command comes in. Is there a way to achieve that? Thanks a lot!
by trautman
Fri Aug 16, 2013 6:22 pm
Forum: Centralized Controller Platforms
Topic: How to maintain motion commands (440 Omni)
Replies: 5
Views: 8579

Re: How to maintain motion commands (440 Omni)

We tried commanding at frequencies from 0.5hz to 50hz, but it's never smooth. So for the omni, we can't use acceleration based mapping, correct? The only motion command we can give is velocity (linear, angular, yaw rate)?
by trautman
Wed Aug 14, 2013 4:30 pm
Forum: Centralized Controller Platforms
Topic: How to maintain motion commands (440 Omni)
Replies: 5
Views: 8579

How to maintain motion commands (440 Omni)

Hi, We are interfacing the RMP with our navigation program instead of the joystick. Is there a way to specify how long to maintain a motion command that is sent to the RMP, or instruct the RMP to maintain the motion command until a new command is received? So for example, if we want the RMP to go in...
by trautman
Thu May 30, 2013 5:37 pm
Forum: Centralized Controller Platforms
Topic: URDF for RMP Omni 440
Replies: 2
Views: 5090

URDF for RMP Omni 440

Hi Patrick:

Do you guys have the URDF (Universal robot description file) for the segway rmp omni 440?
by trautman
Wed Feb 06, 2013 8:08 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 16884

double red lights on front battery

Hi Patrick: I've been charging the batteries for about 5 hours now and both "front" LEDs are red. Also, when i try to power on the machine, the status blinks yellow for about 5 seconds and then blinks red really fast. Also, I got RMP_OCU.py to run, and I selected all the defaults to create the ocu*....
by trautman
Wed Jan 30, 2013 7:24 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 16884

NO _winreg for ubuntu?

Hi Patrick (?) I'm trying to run RMP_OCU.py, which calls io_usb_cmd.py; io_usb_cmd.py calls _winreg, which I don't know how to import under ubuntu linux 12.04 Additionally, I'm concerned about the .inf driver files for windows; clearly, these won't work on an ubuntu machine (or how do they)? I have ...
by trautman
Wed Nov 14, 2012 4:24 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 16884

Re: RMP 440 Omni---no power

OK---got the green power to come on (I hadn't undone the e-stop correctly), but now have a blinking yellow status (perhaps this was because I shorted the d and e stops?). We still cannot get a connection over the OCU demo, and cannot extract a faultlog, although hopefully now that I figured out how ...
by trautman
Wed Nov 14, 2012 3:39 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 16884

Re: RMP 440 Omni---no power

Didn't work. I first attached kill switch and that didn't do anything. I shorted the d to e plugs and then attached usb. I only got a fast red blinking status led though. I still tried to run the faultlog extraction, and it failed. Any ideas? No matter what configuration I have tried (no kill switch...