Re: [ros-users] hokuyo on mac

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 <blaise@willowgarage.com>*
> 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
> <mailto: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
> <mailto: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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