Hello again, Sorry for the spam, but now I've tried to use hrl_hokuyo and I got an error while using rosmake hrl_hokuyo. Here is part of the message that contains error: [rosmake-0] Starting >>> hrl_hokuyo [ make ] [ rosmake ] All 8 lineshrl_hokuyo: 0.0 sec ] [ 1 Active 37/38 Complete ] {------------------------------------------------------------------------------- mkdir -p bin cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake .. CMake Error at CMakeLists.txt:12 (rospack): Unknown CMake command "rospack". -- Configuring incomplete, errors occurred! -------------------------------------------------------------------------------} [ rosmake ] Output from build of package hrl_hokuyo written to: [ rosmake ] /home/lis/.ros/rosmake/rosmake_output-20100706-161818/hrl_hokuyo/build_output.log [rosmake-0] Finished <<< hrl_hokuyo [FAIL] [ 0.06 seconds ] Everything else makes fine. I am using ROS c-turtle and Ubuntu 9.10. Do you know what the problem might be? Best, Sanja ________________________________________ From: ros-users-bounces@code.ros.org [ros-users-bounces@code.ros.org] On Behalf Of Advait Jain [advait@cc.gatech.edu] Sent: Friday, July 02, 2010 4:11 PM To: ros-users@code.ros.org Subject: Re: [ros-users] Tilting Hokuyo 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 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 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 >> _______________________________________________ >> 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 > > _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users