We added support for the USB interface that the newer RMP platforms come with. The driver now works fairly well with position2d commands, and reports odometry, main battery voltage, and UI battery voltage. Position3d should work, but we have never tested it.
The added CAN messages might break compatibility with older powerbases that don't have the USB controller board, but we don't have any older units available to test. It shouldn't be too hard to disable the extra pieces if they get in the way for older units.
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