Deepak, With regards to the login, can you try again after waiting 15 minutes. It takes 15-20 minutes for a login to propagate to all the different tracs etc on ros.org. If you're still having trouble please let us know. Tully On 08/21/2010 09:06 PM, DRamachandran@hra.com wrote: > > > Blaise, > > I tried to post this at the trac site. But I can't seem to login > after registering. So I'm posting this here. Sorry everybody for the spam. > > ~Deepak > > I tried playing around with the modified code. I can get ::open to > work on the hokuyo port by setting the O_EXLOCK flag. Also there are > some other > settings that need to be changed with tcsetattr() and I've made those > changes in the > code below. > > However, laserReadLine() hangs when trying to read a line from the > file. It seems > that fgets() doesn't work on the usb in mac. I tried using read() > instead > but that reads a fixed amount of data from the port and does not > stop on newline. > > Now I'm at a loss to proceed. Any ideas? I'm not much of a driver > hacker and don't really understand all the hokuyo code, so I'm not > sure I can fix this myself. > > What I have so far is attached. > > ~Deepak > > > > *Blaise Gassend * > Sent by: ros-users-bounces@code.ros.org > 08/19/2010 12:40 AMPlease respond toros-users@code.ros.org > > To ros-users@code.ros.org > cc > bcc Deepak Ramachandran/HRA/ASC/HONDA > Subject Re: [ros-users] hokuyo on mac > > > 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. * > *> * > > > _______________________________________________ > 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 >