Linux based RMP demo OCU

RMP 210, 220, 440LE, 440SE, 440 Omni
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phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Linux based RMP demo OCU

Post by phussey »

This is a version of the OCU compatible with Linux. It was verified in Ubuntu 12.04 (Precise). It was verified to run with python 2.7 (from apt-get). It requires pyserial and pygame (also from apt-get). This version has been tested with 32-bit and 64-bit Ubuntu 12.04 LTS running dual boot and in a virtual box hosted by Windows 7 Pro (x64)

The OCU supports USB and Ethernet interface.

This is only provided for reference and is not a supported product. Please understand the software license agreement before using.

If you are using an RMP omni-directional platform a Logitech Extreme 3D-Pro (http://www.logitech.com/en-us/product/e ... o?crid=719) must be used in order to command velocity, angle, and yaw rate. If the Logitech Extreme 3D-Pro is not used, the platform will only be commanded velocity and yaw rate.
RMP_OCU_LINUX.tar.gz
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PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Linux based RMP demo OCU

Post by phussey »

This version has been updated to support the new flex omni design
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

sdnalloh

Re: Linux based RMP demo OCU

Post by sdnalloh »

To extract the archive and run the Demo OCU follow these steps.

Change to the directory where you want to install the program.

Code: Select all

 cd /path/to/install/location/
Extract the archive.

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 tar xvzf /path/to/RMP_OCU_LINUX.tar.gz 
Launch the Demo OCU.

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 python RMP_OCU_LINUX/RMP_OCU.py
To choose the configuration file to use, click "Browse" in the pop-up window
and browse to /path/to/install/location/RMP_OCU_LINUX/RMP_CONFIGURATION_FILES/

Follow the instructions on how to use the Demo OCU that can be found in the User Manual.

AuxosCrew
Posts: 5
Joined: Wed Dec 12, 2012 4:28 pm

Re: Linux based RMP demo OCU

Post by AuxosCrew »

I've written a ROS driver for the RMP based on this code. I would like to release it as an open source package, but I'm not sure the current license on this allows it. There have been several requests on the ROS forums for such a driver. Would it be possible to release this publicly using a standard license like BSD or MIT?

Thanks,

David

sdnalloh

Re: Linux based RMP demo OCU

Post by sdnalloh »

David,

Our legal department is looking into what type of license we can endorse. We'll have to get back to you on that issue.

Can you provide additional information on what platforms you have tested it on and what version of firmware (Build ID) those machines have installed? The SP SW Build ID and UIP SW Build ID can be found in the faultlog. The reason I ask this is that newer versions of the firmware have changed the order of the User Defined Feedback Bitmaps, which would affect the operation of your ROS driver.

Thanks,
Greg

AuxosCrew
Posts: 5
Joined: Wed Dec 12, 2012 4:28 pm

Re: Linux based RMP demo OCU

Post by AuxosCrew »

Thanks for checking on it. I've only tested it on our RMP 440 LE. The SP SW Build ID is 1224 and the UIP SW Build ID is 1274.

David

Francois
Posts: 1
Joined: Thu Oct 10, 2013 9:10 am

Re: Linux based RMP demo OCU

Post by Francois »

Hello David, Greg,

I just bought an RMP 440 LE and would very much like to know if this ROS driver is available somewhere. I ve searched here and there to no avail so far... Perhaps can you help me out with that?

Thanks in advance,
François

adnankobir
Posts: 3
Joined: Fri Jan 17, 2014 12:13 pm

Re: Linux based RMP demo OCU

Post by adnankobir »

I seem to be having driver issues. Can someone shed some light? Thanks in advance!

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linaro@linaro-ubuntu-desktop:~/RMP_OCU_LINUX$ dmesg | tail
ehci_fsl_bus_resume ends, DR
usb 1-1: new full speed USB device number 5 using fsl-ehci
usb 1-1: device v0808 p00eb is not supported
usb 1-1: USB disconnect, device number 5
ehci_fsl_bus_suspend begins, DR
ehci_fsl_bus_suspend ends, DR
ehci_fsl_bus_resume begins, DR
ehci_fsl_bus_resume ends, DR
usb 1-1: new full speed USB device number 6 using fsl-ehci
usb 1-1: device v0808 p00eb is not supported

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linaro@linaro-ubuntu-desktop:~/RMP_OCU_LINUX$ uname -a
Linux linaro-ubuntu-desktop 3.0.35-g0f2006c-dirty #161 SMP PREEMPT Tue Dec 31 14:06:45 IST 2013 armv7l armv7l armv7l GNU/Linux

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Linux based RMP demo OCU

Post by phussey »

I see from the post that you are using linaro on a ARM core architecture.

The OCU was verified in Ubuntu 12.04 (Precise). It was verified to run with python 2.7 (from apt-get). It requires pyserial and pygame (also from apt-get). This version has been tested with 32-bit and 64-bit Ubuntu 12.04 LTS running dual boot and in a virtual box hosted by Windows 7 Pro (x64).

Unfortunately there is not much I can do to help as the version you are running is not presently supported by Segway. My only suggestion is to try the basic interface example which uses ethernet, and does not require any special python packages. It should be compatible with most versions of linux.

Basic threaded RMP interface example
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

adnankobir
Posts: 3
Joined: Fri Jan 17, 2014 12:13 pm

Re: Linux based RMP demo OCU

Post by adnankobir »

Thanks Patrick. Was able to get it going with the ethernet interface.

Omidkk
Posts: 3
Joined: Fri Sep 16, 2016 6:02 am

Re: Linux based RMP demo OCU

Post by Omidkk »

Hi,
How I can drive robot to sideways with mouse?
Thanks

ChrisC
Posts: 43
Joined: Fri Apr 20, 2012 8:22 am

Re: Linux based RMP demo OCU

Post by ChrisC »

Hi Omidkk,
When using the current versions of the OCU Demo application with any Mecanum wheel equipped RMP440 Omni platform, the strafe motion commands (driving sideways) can be sent to the platform through the use of a Logitech Extreme 3D joystick controller only. Please refer to pages 101 & 102 of the User Manual - RMP 440 Omni document for more information.
-Chris

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