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 <sanja@mit.edu> 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
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