[ros-users] Hokuyo URG-04LX on serial

[Geoffrey Biggs]

The hokuyo_aist driver in Gearbox does indeed support serial. It even
supports a network connection for the released-really-soon-now new
lasers. And I really should get around to making a ROS node for it...

Geoff

On 11/06/10 04:18, Brian Gerkey wrote:
> hi Armin,
> 
> A few years ago, I added support for using the URG-04LX over serial to
> the original Player driver for that device.  I was able to talk to it
> via serial from a Gumstix board
> (http://www.ai.sri.com/~gerkey/roomba/index.html).  Since then, that
> driver migrated to Gearbox (http://gearbox.sourceforge.net/).  I would
> guess that the serial support survived the move; if not, there's some
> older version of Player with a driver that will work for you.  One way
> or the other, you should be able to figure out what needs to be added
> to the ROS driver.
> 
> 	brian.
> 
> On Thu, Jun 10, 2010 at 8:37 AM, Armin Hornung
> <HornungA at informatik.uni-freiburg.de> wrote:
>> Hi!
>>
>> Does anyone have some experience with a Hokuyo URG-04LX connected to its
>> serial port, and not USB? Our Hokuyo is connected via serial to a FTDI
>> on an embedded (Geode) board, and I cannot get the hokuyo_node in ROS
>> running with it. Should it work with a serial-connected URG? A simple
>> call to "./getFirmwareVersion /dev/ttyUSB0" in hokuyo_node/bin (or
>> anything else accessing the laser in ROS) results in:
>>
>> [ WARN] 1276190616.641972000: getFirmwareVersion failed: timeout reached
>> (in hokuyo::laser::laserReadline) You may find further details at
>> http://www.ros.org/wiki/hokuyo_node/Troubleshooting
>>
>> I assume that this happens right on initialization in
>> hokuyo::Laser::open() when laserFlush is called (which sends the first
>> command to the device). Right above there is a comment "Settings for
>> USB?". Are there specific settings for the serial port missing? I
>> couldn't find anything setting a baudrate, for example.
>>
>> When I connect the Hokuyo to a PC with USB, all works fine. Firmware
>> version is 3.3 and the device is initially in SCIP1.1, but switches
>> successfully to SCIP2.0.
>>
>> Cheers,
>> Armin
>>
>>
>> --
>> Armin Hornung                              Albert-Ludwigs-Universität
>> www.informatik.uni-freiburg.de/~hornunga   Dept. of Computer Science
>> HornungA at informatik.uni-freiburg.de        Humanoid Robots Lab
>> Tel.: +49 (0)761-203-8010                  Georges-Köhler-Allee 79
>> Fax : +49 (0)761-203-8007                  D-79110 Freiburg, Germany
>>
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