Segway RMP Lite 220 - ROS SmartCar Interface

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milliradian per second(mrad/s))
getIapTotalProgress
Get IAP progress
iapCentralBoard
Upgrade the central control board IAP
iapMotorBoard
Upgrade the motor board IAP
isHostIapOver
Check if IAP is over
getHostIapResult
Get the IAP result (3: completed; 4: failed: 5:
interrupted; 0: meaningless)
getHostIapErrorCode
Get IAP error code
get_chassis_hang_mode
Get whether the chassis is in the hang mode (0: not in
the hang mode; 1: in the hang mode)
get_charge_mos_ctrl_status
Get charging MOS status (1: charging MOS is on, 0:
MOS is off) (temporarily reserved)
set_cmd_vel
Set the chassis linear velocity and angular velocity (unit:
meter per second(m/s) and radian per second(rad/s))
set_line_forward_max_vel
Set the forward speed limit value of the chassis (unit:
meter per second(m/s))
set_line_backward_max_vel
Set the backward speed limit value of the chassis (unit:
meter per second(m/s))
set_angular_max_vel
Set the limit value of chassis angular velocity (unit: radian
per second(rad/s))
set_enable_ctrl
Set the enable state of the upper computer control car
on the chassis (1: enable; 0 disable)
init_control_ctrl
Chassis initialization interface
exit_control_ctrl
Chassis exit initialization interface
set_smart_car_serial
Set the serial port name used by the upper computer
dynamic library
set_comu_interface
Set the communication interface for communication with
the chassis (0: serial port; 1: CAN)
set_chassis_load_state
Set chassis load state (0：empty；1：full)
set_chassis_poweroff
Set chassis shutdown command
set_remove_push_cmd
Remove chassis push command
setHostIapCanceled
Cancel the upper computer IAP command
set_chassis_hang_mode
Set chassis hang mode（1：enter the hang mode：0：
exit the hang mode）
set_charge_mos_ctrl
Set charging MOS switch（1：turn on MOS, 0: turn off
MOS）(temporarily reserved)
2.2.2 ROS Interface introduction—SmartCar
Table 7 news release
TopicName
Function
Description
MessageType
MessageType Info
Freque
ncy