2023-04-25 07:07:55 +00:00
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## Robot Support Package for Segway RMP220 lite
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2023-04-12 07:04:55 +00:00
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2023-04-12 08:11:46 +00:00
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This package should be placed into your workspace src/ folder.
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Alongside you must clone https://github.com/bjoernellens1/segwayrmp and https://github.com/bjoernellens1/segway_msgs to control the robot.
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2023-09-05 09:16:03 +00:00
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Additional packages needed are:
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- https://github.com/bjoernellens1/rmp220_teleop
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- https://github.com/bjoernellens1/rmp220_middleware
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2023-04-12 08:11:46 +00:00
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Go back to ws folder and colcon build --symlink-install && source install/setup.bash
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2023-04-12 07:04:55 +00:00
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2023-04-12 08:11:46 +00:00
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### Launch files:
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2023-04-12 07:04:55 +00:00
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2023-09-05 09:16:03 +00:00
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#### Launch robot controller
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ros2 launch cps_rmp_220_support robot_controller.launch.py
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#### Launch robot state publisher
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ros2 launch cps_rmp_220_support rsp.launch.py
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#### Launch rplidar
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ros2 launch cps_rmp_220_support robot_lidar.launch.py
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#### Launch teleop - from other package
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ros2 launch rmp220_teleop robot_joystick.launch.py
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