cps_rmp220_support/README.md

Robot Support Package for Segway RMP220 lite

This package should be placed into your workspace src/ folder. Alongside you must clone https://github.com/bjoernellens1/segwayrmp and https://github.com/bjoernellens1/segway_msgs to control the robot. Additional packages needed are:

• https://github.com/bjoernellens1/rmp220_teleop
• https://github.com/bjoernellens1/rmp220_middleware

Go back to ws folder and colcon build --symlink-install && source install/setup.bash

Launch files:

Launch robot controller

ros2 launch cps_rmp_220_support robot_controller.launch.py

Launch robot state publisher

ros2 launch cps_rmp_220_support rsp.launch.py

Launch rplidar

ros2 launch cps_rmp_220_support robot_lidar.launch.py

Launch teleop - from other package

ros2 launch rmp220_teleop robot_joystick.launch.py