Hi Sanja, That was a bug. If you svn up and rosmake it should be fine. I'll try and give you some details about adding URG support later today. Advait On Tue, Jul 6, 2010 at 4:20 PM, Sanja Popovic wrote: > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >