|
|
| (12 intermediate revisions by one other user not shown) |
| Line 1: |
Line 1: |
| ==Segway RMP 50==
| |
|
| |
|
| The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. For new versions of linux, a new version of Kvaser is required (Beta version): ftp://ftp.kvaser.com/linux. To get the Username and Password send email to nmoutinho@isr.ist.utl.pt.
| |
|
| |
| After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.
| |
|
| |
| In order to compile Player properly, you may have to edit /usr/include/canlib.h and comment out the definitions for DWORD, HANDLE, and BOOL.
| |
|
| |
| After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:
| |
|
| |
| driver
| |
| (
| |
| name "linuxjoystick"
| |
| provides ["joystick:0" ]
| |
| requires ["position2d:0"]
| |
| alwayson 1
| |
| timeout 0.0
| |
| max_speed [ 3.0 3.0 30 ]
| |
| port "/dev/input/js0"
| |
| )
| |
| driver
| |
| (
| |
| name "segwayrmp"
| |
| provides ["position2d:0" "position3d:0" "power:0"]
| |
| bus "usb"
| |
| usb_device "/dev/ttyUSB0"
| |
| max_xspeed 1.5
| |
| max_yawspeed 80
| |
| )
| |
|
| |
| Then, execute
| |
|
| |
| player <configFileName>
| |
|
| |
|
| |
| [[Vizzy|<< Back to Vizzy wiki homepage]]
| |
|
| |
|
| |
| [[Category:Robots]]
| |
| [[Category:Vislab]]
| |