ellensohn/cps_rmp220_support
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Support package needed for Segway RMP220 control.

Part of the CPS Segway RMP220 ROS2 meta-package:

  • ros2_rmp
  • ros2_rmp_middleware
  • ros2_rmp_teleop
  • ros2_rmp_support

Robot Support Package for Segway RMP220

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:

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