[ros-users] hokuyo on mac

[Tully Foote]

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 at 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 at willowgarage.com>*
> Sent by: ros-users-bounces at code.ros.org
> 08/19/2010 12:40 AMPlease respond toros-users at code.ros.org
>
> To ros-users at 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 at hra.com 
> <mailto:DRamachandran at 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 at hra.com 
> <mailto:DRamachandran at 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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