ROS2 drivers to interface with Segway RMP 200/400 mobile robots

This repository provides a native ROS2 driver based on libsegwayrmp to control the base and receive sensor feedback from the robot. It enables teleoperation, integration with navigation stacks (e.g., Nav2), and use in research & autonomy applications.

🔍 Features

• 🦾 ROS2 C++ driver node for Segway RMP platforms

• 📡 Publishes odometry, IMU, and status topics

• 🕹️ Teleoperation support via standard ROS2 interfaces

• 📦 Compatible with ROS2 Humble+

• 🚀 Easy to launch and integrate into robot systems

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