Segway-ROS2-driver-libsegwayrmp-based

ROS2 Segway Drivers for BWIBots V2. This package is derived from segway_rmp (https://github.com/utexas-bwi/segway_rmp.git)

Dependencies

serial

put the serial folder from the following repo in parallel to your colcon workspace
git clone https://github.com/utexas-bwi/serial_for_ros2.git

libsegwayrmp-ros2

cd [ROS_WS]/src
git clone https://github.com/utexas-bwi/libsegwayrmp_ros2.git
use libsegwayrmp as a main package of ros2 humble and not libsegwayrmp_ros2

Launch

ros2 launch segway_rmp_ros2 segway_rmp_ros2.launch.py

Test

ros2 run teleop_twist_keyboard teleop_twist_keyboard
You should be able to operate the segway with teleop commands now