hi Armin,

A few years ago, I added support for using the URG-04LX over serial to
the original Player driver for that device.  I was able to talk to it
via serial from a Gumstix board
(http://www.ai.sri.com/~gerkey/roomba/index.html).  Since then, that
driver migrated to Gearbox (http://gearbox.sourceforge.net/).  I would
guess that the serial support survived the move; if not, there's some
older version of Player with a driver that will work for you.  One way
or the other, you should be able to figure out what needs to be added
to the ROS driver.

	brian.

On Thu, Jun 10, 2010 at 8:37 AM, Armin Hornung
<HornungA@informatik.uni-freiburg.de> wrote:
> Hi!
>
> Does anyone have some experience with a Hokuyo URG-04LX connected to its
> serial port, and not USB? Our Hokuyo is connected via serial to a FTDI
> on an embedded (Geode) board, and I cannot get the hokuyo_node in ROS
> running with it. Should it work with a serial-connected URG? A simple
> call to "./getFirmwareVersion /dev/ttyUSB0" in hokuyo_node/bin (or
> anything else accessing the laser in ROS) results in:
>
> [ WARN] 1276190616.641972000: getFirmwareVersion failed: timeout reached
> (in hokuyo::laser::laserReadline) You may find further details at
> http://www.ros.org/wiki/hokuyo_node/Troubleshooting
>
> I assume that this happens right on initialization in
> hokuyo::Laser::open() when laserFlush is called (which sends the first
> command to the device). Right above there is a comment "Settings for
> USB?". Are there specific settings for the serial port missing? I
> couldn't find anything setting a baudrate, for example.
>
> When I connect the Hokuyo to a PC with USB, all works fine. Firmware
> version is 3.3 and the device is initially in SCIP1.1, but switches
> successfully to SCIP2.0.
>
> Cheers,
> Armin
>
>
> --
> Armin Hornung                              Albert-Ludwigs-Universität
> www.informatik.uni-freiburg.de/~hornunga   Dept. of Computer Science
> HornungA@informatik.uni-freiburg.de        Humanoid Robots Lab
> Tel.: +49 (0)761-203-8010                  Georges-Köhler-Allee 79
> Fax : +49 (0)761-203-8007                  D-79110 Freiburg, Germany
>
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