Segway RMP Lite 220 - Page 20

20
Bms_fb
Battery related
information
Segway_msgs/ Bms_fb
int16 bat_soc
int16 bat_charging
int32 bat_vol
int32 bat_current
int16 bat_temp
1
Chassis_ctrl
_src_fb
Chassis control
command
source
Segway_msgs/
Chassis_ctrl_src_fb
uint16
chassis_ctrl_cmd_sr
c
1
Chassis_mil
eage_meter
_fb
Chassis
mileage
Segway_msgs/
Chassis_mileage_meter
_fb
uint32
vehicle_meters
1
Chassis_mo
de_fb
Chassis mode
Segway_msgs/
Chassis_mode_fb
uint16
chassis_mode
1
Error_code_
fb
Chassis error
code
Segway_msgs/
Error_code_fb
uint32 host_error
uint32 central_error
uint16
left_motor_error
uint16
right_motor_error
uint32 bms_error
1
Motor_work
_mode_fb
Chassis
working mode
Segway_msgs/
Motor_work_mode_fb
uint16
motor_work_mode
#0: no output
torque 1: output
torque
1
Speed_fb
Chassis speed
Segway_msgs/
Speed_fb
float32 car_speed
float32 turn_speed
float32 l_speed
float32 r_speed
uint64
speed_timestamp
40
Ticks_fb
Chassis
encoder
information
Segway_msgs/ Ticks_fb
int32 l_ticks
int32 r_ticks
uint64
ticks_timestamp
40
Odom
Odom data
Nav_msgs/odom
40
Imu
Imu data
Sensor_msgs/imu
40
Table 8 News Subscription
TopicName
Function
Description
MessageType
MessageType Info
Cmd_vel
Control
Geometry_msgs/twist
Angular.z //rad/s