Segway RMP Lite 220 - Page 21

21
chassis
movement
Linear.x //m/s
Table 9 service client
Service name
Function
Description
Messagetype
Messagetype info
chassis_se
nd_event_s
rv
Send time
number
Segway_msgs/chas
sis_send_event
chassis_send_ev
ent_id
ros_is_received
Table 10 Service server
Service name
Function
Description
Message type
Messagetype info
ros_get_load_pa
ram_cmd_srv
Get load
parameter
Segway_msgs/
ros_get_load_par
am_cmd
ros_get_load_param
---
get_load_param
#0:no_load, 1: full_load
ros_get_charge_
mos_ctrl_status_
cmd.srv
Get chassis
charging
MOS status
(reserved
temporarily)
Segway_msgs/
ros_get_charge_
mos_ctrl_status_c
md
ros_get_chassis_charge_ctrl
_status # 1: MOS opened; 0:
MOS closed
---
chassis_charge_ctrl_status
ros_get_sw_vers
ion_cmd_srv
Get software
version
Segway_msgs/
ros_get_sw_versi
on_cmd
ros_get_sw_version_cmd
---
uint16 host_version
uint16 central_version
uint16 motor_version
ros_get_vel_max
_feedback_cmd_
srv
Get the
maximum
speed limit
Segway_msgs/
ros_get_vel_max_
feedback_cmd
ros_get_vel_max_fb_cmd
---
forward_max_vel_fb
backward_max_vel_fb
angular_max_vel_fb
ros_set_charge_
mos_ctrl_cmd.sr
v
Set chassis
charging
MOS
(reserved
temporarily)
Segway_msgs/
ros_set_charge_
mos_ctrl_cmd
ros_set_chassis_charge_ctrl
---
chassis_set_charge_ctrl_res
ult
# 1: MOS opened; 0: MOS
closed
ros_set_chassis
_enable_cmd_sr
v
Set chassis
enable
command
Segway_msgs/
ros_set_chassis_
enable_cmd
ros_set_chassis_enable_cm
d
---
chassis_set_chassis_enable