Search found 79 matches

by phussey
Mon Oct 07, 2013 2:00 pm
Forum: Centralized Controller Platforms
Topic: ROS packages for navigation
Replies: 1
Views: 3531

Re: ROS packages for navigation

This ROS package only works for the deuce hardware architecture and is not supported by Segway Inc. We do not actively support ROS packages for the RMP. We have a few customers develop ROS nodes for the new architecture based on the linux based demo OCU available in the announcement section on the b...
by phussey
Mon Oct 07, 2013 1:54 pm
Forum: Centralized Controller Platforms
Topic: Question about the buffer for commands sent to the RMP
Replies: 1
Views: 3615

Re: Question about the buffer for commands sent to the RMP

When your program terminates the last thing you should be doing is sending zero commands or transition to standby. When you terminate the program mid command, the platform will take 0.5 seconds to deem the connection lost. At which point the platform will slew the commands to zero at the deceleratio...
by phussey
Mon Oct 07, 2013 1:38 pm
Forum: Centralized Controller Platforms
Topic: What is the expected differential error in the RMP220?
Replies: 1
Views: 3563

Re: What is the expected differential error in the RMP220?

The steady state error in the yaw rate controller is very low (<1%) for the default payload range, on a high traction and level surface, with the tires inflated to the spec in the manual. Surface traction, tire pressure, high payloads, and slopes will all effect the steady state error to some degree...
by phussey
Mon Oct 07, 2013 1:23 pm
Forum: Centralized Controller Platforms
Topic: RMP220 question about yaw rate discrepancy
Replies: 4
Views: 8194

Re: RMP220 question about yaw rate discrepancy

A very important note is that the yaw rate command is normalized to the maximum yaw rate. Meaning the input command is unitless (-1.0...1.0). Since the default max yaw rate is ~3 rad/s; commanding 1.0 would result in a yaw rate of 3.0 rad/s. This is also true for the velocity controller, obviously d...
by phussey
Fri Oct 04, 2013 4:13 pm
Forum: Centralized Controller Platforms
Topic: RMP210, frequency response characteristics
Replies: 1
Views: 3456

Re: RMP210, frequency response characteristics

Due to the public nature of the forum, Segway does not generally release details about the controller architecture or characteristics. On a case by case basis, Segway may allow transfer of controller details after the execution of an NDA.
by phussey
Fri Oct 04, 2013 3:35 pm
Forum: Centralized Controller Platforms
Topic: RMP response message packet delay
Replies: 3
Views: 6315

Re: RMP response message packet delay

Here are a few notes and tips based on your question: 1. The RMP uses UDP for the ethernet protocol, meaning that there is no guarantee of delivery. That means that you will have to handle verification of receipt by checking the response. 2. Wireless is notorious for dropped packets due to channel c...
by phussey
Fri Sep 27, 2013 8:13 am
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 20769

Re: Checking the battery status

You are correct. The ABB demo connects directly to the aux battery board. In the new RMP50XL release, the powerbase CU connects to the ABB via CAN bus and relays the information in the packets sent to the deuce board.I did this so that the information would be included in the existing link so you wo...
by phussey
Thu Sep 26, 2013 2:56 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 20769

Re: Checking the battery status

This zip has the inf and everything that was in the previous post
Segway_RMP_ABB_Demo.zip
by phussey
Thu Sep 26, 2013 10:02 am
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 20769

Re: Checking the battery status

Hi Akin, The issue is that the CU in the powerbase cannot establish CAN communication with the ABB. When you connect USB, with the aux power switch on, do you see the "Segway RMP Auxiliary Battery Board" in the device manager? It should be connected via USB hub and you can talk to it as a virtual co...
by phussey
Tue Sep 24, 2013 4:51 pm
Forum: Centralized Controller Platforms
Topic: More error at lower rotation rate (Turn in place)
Replies: 1
Views: 3957

Re: More error at lower rotation rate (Turn in place)

There are a few answers to your questions: 1. RMP 440 is a skid steer vehicle so the odometry data (diff_wheel_vel_rps) is purely the differential velocity between the wheels and depending on things like surface traction, payload, rates etc the value will vary from the inertial data. 2. The PSE yaw ...