ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

ROS wrapper for Segway RMP440 Omni

asked 2013-03-13 08:22:39 -0600

xylo gravatar image

updated 2013-03-15 07:46:54 -0600

Is anyone developing a ROS wrapper for Segway RMP440 Omni or has already developed it?

Thanks in advance!

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2013-03-14 04:50:43 -0600

updated 2013-03-15 11:35:33 -0600

I assume the RMP440 Omni uses the new protocol used by the RMP440 ( If so William's driver won't work on it. We have a student in our group currently working on a wrapper for the new protocol. I'm not sure of the status, but I'll check on it and try to post shortly.

edit flag offensive delete link more


@david.hodo I think you're right. The RMP400 Omni is a new model that came out last year. Look forward to hearing the student's progress. Thanks!

xylo gravatar image xylo  ( 2013-03-14 06:44:38 -0600 )edit

I know someone who contacted me about supporting the x440 (similar protocol), but when I declined he said that he implemented his own. I have pointed him to this question, so hopefully he can chime in later.

William gravatar image William  ( 2013-03-14 13:05:33 -0600 )edit

answered 2013-03-14 20:36:45 -0600

Georg gravatar image

updated 2013-03-15 07:32:26 -0600

William gravatar image

If it is a 400 Omni, it should work with the old protocol and Willam's lib[1] should be the starting point. Probably it needs to be adapted to the nonholonomic kinematics.

If it is a 440 Omni, it uses the new API.

Best Georg

EDIT: [1]

edit flag offensive delete link more


Oops made a mistake. It's the 440 Omni. (The Segway site is confusing.)

xylo gravatar image xylo  ( 2013-03-15 07:48:16 -0600 )edit

I will try to get approval by my company for releasing my lib and ros node as open source. I do not yet support the 3D motion commands for the omni, but this should be a minor task.

Georg gravatar image Georg  ( 2013-03-17 10:41:57 -0600 )edit

@Georg that'd really awesome! Please let me know. I have no use for 3D motion at least in the near future. Thanks!

xylo gravatar image xylo  ( 2013-03-18 05:36:16 -0600 )edit

Hello @George, Just following up by asking if any libraries have been released? Thanks

ruffsl gravatar image ruffsl  ( 2014-11-13 10:06:32 -0600 )edit

Question Tools


Asked: 2013-03-13 08:22:39 -0600

Seen: 473 times

Last updated: Mar 15 '13