[ros-users] hokuyo inverted parameter

[Brian Gerkey]

Most of the navigation stack will properly handle the inverted laser.
But, unfortunately, amcl (which does localization) won't.  So you'll
need to invert the data before it gets to amcl; if the laser driver
won't do it, you could write a simple node that does the
transformation.

The right answer is to get rid of "inverted" flags and just use tf to
determine how the laser is attached to the robot. Both amcl and
gmapping will be updated to do this:
  https://code.ros.org/trac/ros-pkg/ticket/3051
  https://code.ros.org/trac/ros-pkg/ticket/3052

	brian.

On Tue, Apr 13, 2010 at 7:33 AM, Antons Rebguns <arebgun at gmail.com> wrote:
> I know you can run gmapping node and specify an inverted laser:
>
>     <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping"
> respawn="false" output="screen" >
>
>         <param name="inverted_laser" value="true" />
>     </node>
>
> Anton
>
> On Tue, Apr 13, 2010 at 5:51 AM, Jeff Rousseau <jrousseau at aptima.com> wrote:
>>
>> Hi
>>
>> Is there an easy way to invert the laser scan data of a hokuyo like
>> there is with a SICK?  The sicktoolbox_wrapper node has an "inverted"
>> parameter, but I didn't see a similar option on the hokuyo wiki page.
>>
>> I have a hokuyo mounted upside down and am not sure how to compensate
>> for that (for use in the nav stack)
>>
>> Jeff
>>
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