Hi Sanja,

The hrl_tilting_hokuyo package combines the robotis and hrl_hokuyo
packages to make a tilting hokuyo.

Our specific hardware setup is described here:
http://www.hsi.gatech.edu/hrl-wiki/index.php/Tilting_Hokuyo

hrl_hokuyo is simply a python node that listens to the LaserScan message
from hokuyo_node. It currently does not support a URG but that shouldn't
be hard.

The servo would be the harder part. If you can write a ROS node for your
servo that presents the same interface as the robotis package then you
should be able to use hrl_tilting_hokuyo.

Advait


On Fri, Jul 2, 2010 at 2:28 PM, Vijay Pradeep <vpradeep@willowgarage.com> wrote:
> Hi Sanja,
>
> I haven't used hrl_tilting_hokuyo, so maybe some Georgia Tech folks can
> chime in about that.
>
> I would suggest using the laser_assembler package.  This will expose a
> service call that provides point clouds, given a time interval on which you
> want to assemble laser scans.
>
> Are you adding this to an existing robot running ROS, or are you starting
> from scratch?  If starting from scratch, there are a couple steps you'll
> need to take.  First, to interface with the Hokuyo hardware and publish
> laser scans, you can use hokuyo_node.  The laser_assembler also needs TF
> data for the frame of the laser.  The suggested way to do this is by writing
> a URDF description of your robot, and then use the robot_state_publisher to
> publish the transforms.
>
> You'll also need to write a hardware specific node to control the servo
> system.  This control node should publish sensor_msgs/JointState, since this
> is required by the robot_state_publisher to generate the transforms.  Since
> the controller would also know the current angle of the tilting platform, it
> can decide when each tilting cycle is complete and then make the appropriate
> service call to the laser_assembler to get a point cloud.
>
> Hopefully this makes sense.  Let me know if you run into trouble.
>
> Vijay
>
> On Fri, Jul 2, 2010 at 10:47 AM, Sanja Popovic <sanja@mit.edu> wrote:
>>
>> Hi,
>>
>> I have a Hokuyo URG-04LX and I would like to mount it to a tilt head to
>> get a point cloud. The tilt head I have is a ServoCity DDT500
>> (http://www.servocity.com/html/ddt500_direct_drive_tilt.html) and I also use
>> their servo (http://www.servocity.com/html/servo_controllers.html). Is it
>> possible to use those with ROS with some of the existing packages like
>> hrl_tilting_hokuyo? If not, do you suggest rewriting a package (which one?)
>> or just getting a new head + servo?
>>
>> Thanks,
>> Sanja Popovic
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>
>
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