Hi,

I have finally updated Hokuyo URG-04LX to SCIP 2.0 and FirmWare 3.3.0. Below
is the procedure if someone else want to do...

You can download from Hokuyo's website :

http://www.hokuyo-aut.jp/02sensor/07scanner/download/u_dl_license.html

For Hokuyo 1 (Firmware 0.2.71b)

1st. Please use "Update tool(Win) Ver 1.0" for updating the firmware
2nd. Please install "URG_CONFIGURER.EXE". (for update to SCIP2.0 from
SCIP1.0)

For Hokuyo 2 (Firmware 3.1.04)

1st. Please use "Update tool(Win) Ver 2.3"
2nd. Please install "URG_CONFIGURER.EXE".
The instructions are included in the downloaded files so you must read and
proceed accordingly.

*********************************************************************************
Now after converting to SCIP 2, I was once again trying with hokuyo_node. I
have some error in visualization using rviz, however laser is working fine.
Please note than my ROS master is running on my base computer and I executed
hokuyo_node on the pioneer PC. I  set the IP of the ROS master (base
computer) on my pioneer PC [indirectly I have tested this using ROS tutorial
"network setup" and "running ROS across multiple network", both are working
fine]

laser command is working fine as expected given below:
vros@powerbot:~$ rosrun hokuyo_node hokuyo_node
[ INFO] 1278719145.793650000: Connected to device with ID: H0507384
[ INFO] 1278719145.892535000: Starting calibration. This will take up a few
seconds.
[ INFO] 1278719148.983078000: Calibration finished. Latency is: -0.0840
[ INFO] 1278719149.806085000: Streaming data.

while running rviz command for visulaziation, I got some errors given below
[please note that same error if I just call $rosrun rviz rviz]:
vros@powerbot:~$ rosrun rviz rviz -d 'rospack find hokuyo_node'
/hokuyo_test.vcg
[ INFO] 1278719927.352134000: Loading general config from
[/home/vinaypilania/.rviz/config]
[ INFO] 1278719927.353486000: Loading display config from
[/home/vinaypilania/.rviz/display_config]
rviz: OgreGLSupport.cpp:57: virtual void
Ogre::GLSupport::initialiseExtensions(): Assertion `pcVer && "Problems
getting GL version string using glGetString"' failed.
/opt/ros/boxturtle/ros/bin/rosrun: line 35:  3321 Aborted
$exepath "$@"


Looking forward for your help please.

Thanks
Vinay