The hokuyo_aist driver in Gearbox does indeed support serial. It even supports a network connection for the released-really-soon-now new lasers. And I really should get around to making a ROS node for it... Geoff On 11/06/10 04:18, Brian Gerkey wrote: > 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 > 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 >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users