Segway RMP Lite 220 - Software Functionality; User Documents; Interface Functions

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2 Software introduction
This chapter introduces relevant documents, software interface
functions and fault code information provided by RMP.
2.1 Documents provided to users
Table 3 Documents provided
Document
Function
Libctrl_x86_64.so
Provide C/C++ chassis-related
interfaces in x86 platform
Libctrl_arm64-v8a.so
Provide C/C++ chassis-related
interfaces in arm platform
Comm_ctrl_navigation.h
C/C++ API interface header file
ROS package
Provide chassis control ROS
nodes
2.2 Interface function introduction
2.2.1 C/C++ Interface introduction
Table 4 callback
data type
Callback type
Callback No.
Function description
Data structure
Chassis_Data_Speed
1
Chassis speed
information
typedef struct{
int16_t l_speed;