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Communication with RMP (Linux)

Posted: Mon Mar 26, 2018 12:23 pm
by kmlammers
Hello, I am new to this forum and to Segway RMPs. I am using a RMP 400.

I am having trouble sending commands to the RMP, I believe that it has to do with the powering up and transition into the tractor mode (where I believe it will accept commands)

Here is my approach:
-Ubuntu 16.04
-ROS Kinetic
-Installed BOOST, serial dependencies, SDL, USB drivers, changed lsusb permissions, launched ps3joy and joy ROS nodes for joystick input from Play Station 3 controller.
-Created a ros package of libsegwayrmp

So ultimately all of the above builds and the Segwayrmp_gui opens and I can use "serial" to connect to /dev/ttyUSB0 (USB isnt working). It shows that it connected successfully and when I select "send configurations" it says it sent them to the rmp. In the upper left where the configuration parameters are listed they are all 0 and "E-Stopped"

(libsegway_example doesnt do anything either but also prints no errors)

So I believe the rmp is connected but not in the right state

I power on by connecting AUX charge cord, flip rocker switch, press green power buttons, connect USB.

Do serial communication ports/sockets need to be initialized with an ip link type tool?

Any information would be much appreciated!

Kyle

Re: Communication with RMP (Linux)

Posted: Mon Mar 26, 2018 2:37 pm
by ChrisC
Welcome to the forum. To start with, please confirm the RMP will properly power ON when the two green power buttons are pressed (both green power buttons should remain illuminated) and that both tractor bases transition to Tractor Mode when the two yellow motor activation buttons are pressed. You may wish to refer to the detailed information about charging and order of operations for powering ON the RMP 400 with auxiliary power system outlined in the following linked forum post: http://rmp.segway.com/forum/viewtopic.php?f=4&t=128

The E-Stop lanyard clip must also be installed in order for the RMP to power ON.

Before you try to debug your specific approach to communicating with the RMP, you should verify the RMP will communicate with a Windows PC host using Segway’s generic RMI_Demo GUI application? RMI_Demo (and it’s source code), supplied with the RMP, is generic tele-op software that demonstrates commanding the RMP using CAN and USB interfaces. The application translates joystick commands into Segway RMP velocity and turn commands, provides an example of how to set various system setup parameters and shows how to decode the state variables sent from the Segway RMP. This interface demonstration applications also serves as a reliable configuration that can be used to verify the RMP platform performance during system integration and control software development.

Please report back with your findings.

Thanks,
Chris

Re: Communication with RMP (Linux)

Posted: Mon Mar 26, 2018 3:46 pm
by kmlammers
Plug in AUX power with rocker off: RED solid LEDs ( on control boards? they are also green at points..never solid)
Plug in AUX power with rocker on: RED solid LEDs
Plug in AUX power with pressing green buttons: nothing (red or green on boards or buttons)

Things only change when the USB cords are plugged into the computer
- green LEDs stay on on the boards that have communication connections
- green buttons on front stay on
- yellow button only stay illuminated when it is depressed
- no other lights

Our second RMP400 is in a similar state. Whether or not the AUX power is connected the green power buttons stay on and when pressed the yellow buttons stay illuminated for ~15 seconds, however my attempts to read from the rmp fail

I do not have access to a joystick for a windows machine... my main rational for using ROS.

Re: Communication with RMP (Linux)

Posted: Wed Mar 28, 2018 2:58 pm
by ChrisC
Solid red LED's on the charger boards when the power cord is plugged in would indicate no communication with the batteries. If all 5 system battery packs are installed you should remove them and measure and report back with the no-load voltage for each.

No illumination on the power buttons when pressed in means the two small 2-cell 7.2V UI battery packs inside the enclosure are low voltage.

The "AUX" rocker switch is the power switch for the 12V DC-DC converter inside the enclosure. This 12V power is available for powering payload items but it also is used to energize the charging circuits for the 2 UI battery packs.