Segway-Ninebot RmpLite220
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The RMPLite220 is a differential drive robot from Segway-Ninebot. This driver provides a GXF interface for the hardware. It accepts a differential base control input, and publishes the robot state, odometry information, and IMU data.

Inputs

  • Command*: The base control command. This is a differential drive command with the desired linear speed in m/s, and desired angular speed in rad/s. The command is a `DifferentialBaseCommand composite message.

Outputs

  • State: The current robot state . This is a DifferentialBaseState composite message.

  • Ego Motion Data: The current robot odometry. This is a DifferentialBaseEgoMotion composite message.

  • IMU Data: The current chassis IMU data. This is an Imu message.

  • Wheel Ticks: The current wheel encoder ticks. This is an EnocderTicks message.

Example

The following example uses the robot remote control module to drive the robot.

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---
name: atlas
components:
- name: frontend
  type: nvidia::isaac::AtlasFrontend
  parameters:
    pose_tree: pose_tree
    composite_schema_server: composite_schema_server
- name: pose_tree
  type: nvidia::isaac::PoseTree
- name: pose_tree_setup
  type: nvidia::isaac::PoseTreeSetup
  parameters:
    pose_tree: pose_tree
- name: composite_schema_server
  type: nvidia::isaac::CompositeSchemaServer
- name: segway_imu_frame
  type: nvidia::isaac::PoseTreeFrame
  parameters:
    pose_tree: pose_tree
- name: segway_wheelbase_state_frame
  type: nvidia::isaac::PoseTreeFrame
  parameters:
    pose_tree: pose_tree
- name: segway_ego_motion_child_frame
  type: nvidia::isaac::PoseTreeFrame
  parameters:
    pose_tree: pose_tree
---
name: remote_control_segway
components:
- name: subgraph
  type: nvidia::gxf::Subgraph
  parameters:
    location: "apps/amr/robot_remote_control/robot_remote_control_segway.subgraph.yaml"
    prerequisites:
      atlas: atlas/frontend
      segway_imu_frame: atlas/segway_imu_frame
      segway_wheelbase_state_frame: atlas/segway_wheelbase_state_frame
      segway_ego_motion_child_frame: atlas/segway_ego_motion_child_frame
---
name: scheduler
components:
- name: scheduler
  type: nvidia::gxf::GreedyScheduler
  parameters:
    clock: clock
- name: clock
  type: nvidia::gxf::RealtimeClock

API Documentation

NvIsaacSegwayExtension

Extension to interface with Segway chassis

nvidia::isaac::SegwayDriver

Interfaces with a Segway chassis to send commands and query data

Parameters:

name

Encoder Data Transmitter
lookup_name

tx_encoder_ticks
description

Current wheel encoder data
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Imu Data
lookup_name

tx_imu
description

Current differential drive robot imu data
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Ego Motion Data
lookup_name

tx_ego_motion
description

Current estimate of robot pose
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Battery State Transmitter
lookup_name

tx_battery_state
description

Current battery state
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Command
lookup_name

rx_command
description

Target differential drive robot state from controller
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Memory allocator
lookup_name

allocator
description

Handle to the memory allocator pool used for output messages
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Load State
lookup_name

load_state
description

Load state of chassis. 0: no_load, 1: full_load
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_INT32
default

0
name

Flip Orientation
lookup_name

flip_orientation
description

Whether to flip the forward direction of the base
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_BOOL
default

False
name

Speed Limit Foward
lookup_name

speed_limit_linear
description

Maximum linear speed allowed to travel at (m/s)
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_FLOAT64
default

1.1
name

Speed Limit Angular
lookup_name

speed_limit_angular
description

Maximum angular speed allowed to rotate at (rad/s)
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_FLOAT64
default

1.0
name

Hang Mode
lookup_name

hang_mode
description

Hang mode of chassis. 0: off, 1: on
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_INT32
default

0
name

Handle to atlas frontend to access the composite schema server
lookup_name

atlas_frontend
description

N/A
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Segway IMU Frame
lookup_name

segway_imu_frame
description

PoseTreeID for IMU data from the segway imu.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Segway Ego Motion Child Frame
lookup_name

segway_ego_motion_child_frame
description

PoseTreeID for ego motion data from the segway.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A

nvidia::isaac::DifferentialBaseVelocityEstimator

Estimates the velocity of a differential drive robot with encoder data

Parameters:

name

State Transmitter
lookup_name

tx_state
description

Current differential drive robot state
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Encoder Tick Receiver
lookup_name

rx_encoder_ticks
description

Encoder ticks from differential drive robot
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Handle to atlas frontend to access the composite schema server
lookup_name

atlas_frontend
description

N/A
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Memory allocator
lookup_name

allocator
description

Handle to the memory allocator pool used for output messages
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Wheelbase State Frame
lookup_name

wheelbase_state_frame
description

PoseTreeID for wheelbase data from the data.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Ticks Per Revolution
lookup_name

k_ticks_per_revolution
description

Number of encoder ticks per revolution
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_INT32
default

4096
name

Wheel Track Width
lookup_name

k_wheel_track_width_m
description

Distance between wheels in Meters
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_FLOAT64
default

0.413
name

Wheel Diameter
lookup_name

k_wheel_diameter_m
description

Diameter of wheels in Meters
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_FLOAT64
default

0.28
name

Cut Off Frequency
lookup_name

k_cut_off_frequency_radps
description

Cut off frequency for the low pass filter in rad/s
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_FLOAT64
default

50.26548245743669

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