Hey Pablo,
I recently used ROSARIA with the navigation stack and a Hokuyo 04LX.
It works very well.
You can connect directly to the platform via its serial port (you need a usb
to serial cable for that).
ROSARIA accepts velocity commands (geometry_msgs/twist) and broadcast pose
messages nav_msgs::Odometry.
All I had to do (appart from tunning the nav stack parameters) was to create
a node that broadcast the laser TF frame and transform pose messages in a TF
transform (see file enclosed).
http://ros-users.122217.n3.nabble.com/file/n1288712/pioneer_tf.cpp
pioneer_tf.cpp
I used the standard hokuyo node to handle laser scans.
This is the main launch file I use to get my platform ready to navigate.
http://ros-users.122217.n3.nabble.com/file/n1288712/pioneer_configuration.launch
pioneer_configuration.launch
This is a quick result:
http://www.youtube.com/watch?v=f3Iu2t0d3xo
Raph
--
View this message in context:
http://ros-users.122217.n3.nabble.com/Pioneer3-tp1265101p1288712.html
Sent from the ROS-Users mailing list archive at Nabble.com.
------------------------------------------------------------------------------
This SF.net email is sponsored by
Make an app they can't live without
Enter the BlackBerry Developer Challenge
http://p.sf.net/sfu/RIM-dev2dev
_______________________________________________
ros-users mailing list
ros-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/ros-users
(text/plain)