[ros-users] Tilting Hokuyo

Sanja Popovic sanja at MIT.EDU
Tue Jul 6 20:20:51 UTC 2010

Hello again,

Sorry for the spam, but now I've tried to use hrl_hokuyo and I got an error while using rosmake hrl_hokuyo.
Here is part of the message that contains error:

[rosmake-0] Starting >>> hrl_hokuyo [ make ]                                                                    
[ rosmake ] All 8 lineshrl_hokuyo: 0.0 sec ]                                         [ 1 Active 37/38 Complete ]
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  CMake Error at CMakeLists.txt:12 (rospack):
    Unknown CMake command "rospack".
  -- Configuring incomplete, errors occurred!
[ rosmake ] Output from build of package hrl_hokuyo written to:
[ rosmake ]    /home/lis/.ros/rosmake/rosmake_output-20100706-161818/hrl_hokuyo/build_output.log
[rosmake-0] Finished <<< hrl_hokuyo [FAIL] [ 0.06 seconds ]

Everything else makes fine. 

I am using ROS c-turtle and Ubuntu 9.10. Do you know what the problem might be?

From: ros-users-bounces at code.ros.org [ros-users-bounces at code.ros.org] On Behalf Of Advait Jain [advait at cc.gatech.edu]
Sent: Friday, July 02, 2010 4:11 PM
To: ros-users at code.ros.org
Subject: Re: [ros-users] Tilting Hokuyo

Hi Sanja,

The hrl_tilting_hokuyo package combines the robotis and hrl_hokuyo
packages to make a tilting hokuyo.

Our specific hardware setup is described here:

hrl_hokuyo is simply a python node that listens to the LaserScan message
from hokuyo_node. It currently does not support a URG but that shouldn't
be hard.

The servo would be the harder part. If you can write a ROS node for your
servo that presents the same interface as the robotis package then you
should be able to use hrl_tilting_hokuyo.


On Fri, Jul 2, 2010 at 2:28 PM, Vijay Pradeep <vpradeep at willowgarage.com> wrote:
> Hi Sanja,
> I haven't used hrl_tilting_hokuyo, so maybe some Georgia Tech folks can
> chime in about that.
> I would suggest using the laser_assembler package.  This will expose a
> service call that provides point clouds, given a time interval on which you
> want to assemble laser scans.
> Are you adding this to an existing robot running ROS, or are you starting
> from scratch?  If starting from scratch, there are a couple steps you'll
> need to take.  First, to interface with the Hokuyo hardware and publish
> laser scans, you can use hokuyo_node.  The laser_assembler also needs TF
> data for the frame of the laser.  The suggested way to do this is by writing
> a URDF description of your robot, and then use the robot_state_publisher to
> publish the transforms.
> You'll also need to write a hardware specific node to control the servo
> system.  This control node should publish sensor_msgs/JointState, since this
> is required by the robot_state_publisher to generate the transforms.  Since
> the controller would also know the current angle of the tilting platform, it
> can decide when each tilting cycle is complete and then make the appropriate
> service call to the laser_assembler to get a point cloud.
> Hopefully this makes sense.  Let me know if you run into trouble.
> Vijay
> On Fri, Jul 2, 2010 at 10:47 AM, Sanja Popovic <sanja at mit.edu> wrote:
>> Hi,
>> I have a Hokuyo URG-04LX and I would like to mount it to a tilt head to
>> get a point cloud. The tilt head I have is a ServoCity DDT500
>> (http://www.servocity.com/html/ddt500_direct_drive_tilt.html) and I also use
>> their servo (http://www.servocity.com/html/servo_controllers.html). Is it
>> possible to use those with ROS with some of the existing packages like
>> hrl_tilting_hokuyo? If not, do you suggest rewriting a package (which one?)
>> or just getting a new head + servo?
>> Thanks,
>> Sanja Popovic
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
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