[ros-users] hokuyo inverted parameter

[Jeff Rousseau]

Thanks Brian,

I need amcl for localization, so In the meantime I'll hack together a 
node that manually does the inversion on /scan and re-publishes on 
/scan_inverted.  That way I don't have to deal with inversion flags 
everywhere...

As long as I re-post my LaserScan messages with the original timestamp 
it should work, correct?

PS those tickets are slated for navigation/slam_gmapping-1.1 which I 
believe is already out, so does that mean they're targeted for 1.2--or 
are they being pushed back to a later (unstable) release?

Jeff

Brian Gerkey wrote:
> 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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