[ros-users] Driver for new Hokuyo UTM-30LX-EW lasers?

Tue Feb 14 03:02:47 UTC 2012

Hi Chad,

Thanks for the suggestion, I have submitted ticket #5368.
Hokuyo are a bit slack updating their website at the moment, so I have attached the protocol spec to the ticket (we had to request this document from Hokuyo).
The spec is for the UTM-30LX-EW, but is actually fully SCIP2.2 compliant, so should be suitable for all SCIP2.2 lasers.

Cheers!

Fred Pauling

Software Engineer - Robotics
ICT Centre Autonomous Systems Lab
CSIRO

From: Chad Rockey <chadrockey at gmail.com<mailto:chadrockey at gmail.com>>
Reply-To: User discussions <ros-users at code.ros.org<mailto:ros-users at code.ros.org>>
Date: Tue, 14 Feb 2012 02:13:07 +1100
To: User discussions <ros-users at code.ros.org<mailto:ros-users at code.ros.org>>
Subject: Re: [ros-users] Driver for new Hokuyo UTM-30LX-EW lasers?

Feel free to submit an enhancement ticket for the hokuyo_node:
https://code.ros.org/trac/ros-pkg/newticket?component=laser_drivers&type=enhancement&laser_drivers

I was looking around to find documentation on 2.2, but the main Hokuyo download page still only lists 1.1 and 2.0:
http://www.hokuyo-aut.jp/02sensor/07scanner/download/index.html

If you have more information, just include links on the ticket and we'll see what it will take to update the driver.

2012/2/13 Martí Morta <mmorta at iri.upc.edu<mailto:mmorta at iri.upc.edu>>
Hi Frederick,
It's ok. If you really want a standalone driver, maybe improve the hokuyo_node driver itself would be the best solution since it is the only one (If I am not mistaken) which is directly implemented as a ROS driver instead of a C/C++ driver and a wrapper.
If you are thinking in making a wrapper of the urgwidget you are welcome to use our scripts [1] to easily create nodes.
Anyway as soon as we have our driver working I'll tell you.

[1] http://wikiri.upc.es/index.php/IRI_ROS#IRI_ROS_Script_tutorials

Martí Morta

On 02/13/12 06:56, Frederick.Pauling at csiro.au<mailto:Frederick.Pauling at csiro.au> wrote:

Hi Marti,

I missed your reply last week, apologies.
Thank you for the link to iri_ros_pkg. I had found this earlier, but I was looking for a more stand-alone driver (similar to the current hokuyo_node).
I found the "urgwidget" library on sourceforge http://sourceforge.net/projects/urgwidget/, which is actively maintained by at least one Hokuyo employee. This implements SCIP2.2 in a very light-weight C library. There is no ROS-wrapper for it yet.

Fred Pauling

Software Engineer - Robotics
ICT Centre Autonomous Systems Lab
CSIRO

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From: Martí Morta <mmorta at iri.upc.edu<mailto:mmorta at iri.upc.edu><mailto:mmorta at iri.upc.edu><mailto:mmorta at iri.upc.edu>>
Reply-To: User discussions <ros-users at code.ros.org<mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org>>
Date: Wed, 8 Feb 2012 21:28:32 +1100
To: "ros-users at code.ros.org<mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org>" <ros-users at code.ros.org<mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org><mailto:ros-users at code.ros.org>>
Subject: Re: [ros-users] Driver for new Hokuyo UTM-30LX-EW lasers?

Hi,
I am updating the IRI driver [1] for the Hokuyo Lasers in order to be used with the SCIP2.2 protocol and get the multiecho values in the UTM-30LX-EW and the UXM-30LX-E
At the moment I am working with the non-ROS version of the driver, as soon as I get this running I will wrap it in our ROS node [2].

I'll tell you when It will be ready.

Kind regards,
Martí Morta

[1] http://wikiri.upc.es/index.php/Hokuyo_Laser_driver
[2] <https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_common_drivers/trunk/iri_hokuyo_laser/><https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_common_drivers/trunk/iri_hokuyo_laser/> http://www.ros.org/wiki/iri_hokuyo_laser

The UTM-30LX-EW (http://www.autonomoustuff.com/hokuyo-utm-30lx-ew.html)
has multi-echo capability, but this requires the driver to implement the
new SCIP 2.2 protocol. Does anyone have a driver for this laser, or plans
to write one? It would seem logical to extend the hokuyo_node package
somehow.

Regards,
Fred Pauling

--
Martí Morta Garriga. Support Engineer.
Institut de Robòtica i Informàtica Industrial (UPC-CSIC)
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--
Martí Morta Garriga. Support Engineer.
Institut de Robòtica i Informàtica Industrial (UPC-CSIC)

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