From d0d3348da74fa3ada1bf98bd8cd261b9de642ef0 Mon Sep 17 00:00:00 2001
From: Paul Bovbel <pbovbel@clearpathrobotics.com>
Date: Tue, 9 Dec 2014 13:40:38 -0500
Subject: [PATCH] add parameter for rmp50xl

---
 src/segway_rmp_node.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/segway_rmp_node.cpp b/src/segway_rmp_node.cpp
index 468191f..9d6ba7c 100644
--- a/src/segway_rmp_node.cpp
+++ b/src/segway_rmp_node.cpp
@@ -478,9 +478,11 @@ class SegwayRMPNode {
             this->segway_rmp_type = segwayrmp::rmp200;
         } else if (segway_rmp_type_str == "50/100") {
             this->segway_rmp_type = segwayrmp::rmp100;
+        } else if (segway_rmp_type_str == "50xl") {
+            this->segway_rmp_type = segwayrmp::rmp50XL;
         } else {
             ROS_ERROR(
-                "Invalid rmp type: %s, valid rmp types are '200/400' and '50/100'.",
+                "Invalid rmp type: %s, valid rmp types are '200/400', '50/100', and '50xl'",
                 segway_rmp_type_str.c_str());
             return 1;
         }