Linux based RMP demo OCU

RMP 210, 220, 440LE, 440SE, 440 Omni
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phussey
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Linux based RMP demo OCU

Post by phussey » Wed Feb 13, 2013 1:04 pm

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

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phussey
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Re: Linux based RMP demo OCU

Post by phussey » Mon Apr 08, 2013 11:10 am

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

STANLEY INNOVATION, INC
www.stanleyinnovation.com

sdnalloh
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Re: Linux based RMP demo OCU

Post by sdnalloh » Fri May 24, 2013 3:28 pm

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

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

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 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
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Re: Linux based RMP demo OCU

Post by AuxosCrew » Tue Jun 11, 2013 8:05 pm

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
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Re: Linux based RMP demo OCU

Post by sdnalloh » Wed Jun 12, 2013 1:01 pm

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
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Re: Linux based RMP demo OCU

Post by AuxosCrew » Sun Jun 16, 2013 11:48 pm

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
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Re: Linux based RMP demo OCU

Post by Francois » Tue Oct 15, 2013 9:05 am

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
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Re: Linux based RMP demo OCU

Post by adnankobir » Tue Jan 21, 2014 4:19 pm

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

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phussey
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Re: Linux based RMP demo OCU

Post by phussey » Wed Jan 22, 2014 10:38 am

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
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Re: Linux based RMP demo OCU

Post by adnankobir » Wed Jan 22, 2014 3:04 pm

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

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