[ros-users] Tilting Hokuyo

Advait Jain advait at cc.gatech.edu
Tue Jul 6 20:29:52 UTC 2010


Hi Sanja,

That was a bug. If you svn up and rosmake it should be fine.
I'll try and give you some details about adding URG support later today.

Advait


On Tue, Jul 6, 2010 at 4:20 PM, Sanja Popovic <sanja at mit.edu> wrote:
> 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?
>
> Best,
> Sanja
> ________________________________________
> 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:
> http://www.hsi.gatech.edu/hrl-wiki/index.php/Tilting_Hokuyo
>
> 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.
>
> Advait
>
>
> 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
>>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
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>>
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