Initialization

SegwayRobotics officially provides three ways to drive the RMP platform, and users can choose which method to use based on their own needs:

• C/C++ Library: This is an official dynamic link library and API header file for different architectures provided by officials for development by calling.

• ROS: These are files provided by officials for publishing node messages, service subscriptions, etc. Users can get started quickly through the test node.

• ROS2: These are files provided by officials for publishing node messages, service subscriptions, etc. Users can get started quickly through the test node.

In addition, the source files for driving the RMP in the three ways mentioned above support running within a Docker container in the form of volumes. Users need to take note that the local device used: /dev/rpserialport (the device file is implemented after running Segway_RMP_Init.sh) needs to be mapped into the container in the container startup parameters or configuration.

Note: The official does not open-source any UART or CAN protocols. Specifically, the official has implemented the conversion of the communication serial data stream into structured data that is easy for users to operate through the dynamic link library. Users can issue commands and get feedback data through the interface provided by the official.