I have replied in the trac ticket:
https://code.ros.org/trac/ros-pkg/ticket/3826

Please try to post answers there. It makes the discussion easier to keep
track of later.

The short of it is that I pushed a patch into trunk that looks more like
Hokuyo's code, and I would be interested in having you give it a spin.

On Wed, Aug 18, 2010 at 8:14 PM, <DRamachandran@hra.com> wrote:

> Blaise,
>
>    So I have a rudimentary version working now. I downloaded the hokuyo
> sample code from
> here:
>
>
> http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/index.html
>
> and adapted md_scan.c so that it outputs the data to a file which I then
> read from within a ros node.  Kind of hackish, but the problem was that the
> c++ version didn't compile on my machine (linker errors within SDL (?) ).
>
> I'm not sure if what I have is enough however. I guess the ros drivers do
> some postprocessing on the scan data before outputting, which I don't. I
> tried integrating with some odometry for my robot (which I know is fairly
> accurate) to do simple localization in AMCL and the particles jump all over
> the place and then the covariance blows up very fast to NaNs. Is this what
> you would expect with unfiltered laser data?
>
> What should I do next? I can try integrating this code into the ROS hokuyo
> driver. It should be as simple as replacing the fopen with the setSerial
> code in the hokuyo sample code. I think that be best done by someone who
> knows what he is doing.
>
> ~Deepak
>
>
>
>
>
>
> No, I haven't worked on it more. Because the problem is happening on the
> open command, it isn't even clear that the MacOS USB driver is doing the
> right thing. If I were you I would look for success stories for USB
> Hokuyos on MacOS. They might give some useful pointers.
>
> On Wed, 2010-08-11 at 18:13 -0700, DRamachandran@hra.com wrote:
> > Hi Blaise,
> >
> > Sorry for the 8months (!!) gap in reply. I was distracted by other
> > things and stopped working on this.
> > But now I'm planning to get back to working on this and I was
> > wondering a solution has been found yet ?
> >
> > cliff notes: Hokuyo not working on mac os x snow leopard, ros 1.0.0.
> > fopen call on hokuyo tty hanging. reason unknown. last email of
> > previous thread attached.
> >
>
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