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

Tue Feb 14 03:13:31 UTC 2012

I forgot the link to the ticket:
https://code.ros.org/trac/ros-pkg/ticket/5368

Cheers,

Fred Pauling 
Software Engineer - Robotics
ICT Centre Autonomous Systems Lab
CSIRO

On 14/02/12 1:02 PM, "Pauling, Fred (ICT Centre, Pullenvale)"
<Frederick.Pauling at csiro.au> wrote:

>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=e
>nhancement&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
>
>Phone: +61 7 3327 4049<tel:%2B61%207%203327%204049> | Fax: +61 7 3327
>4455<tel:%2B61%207%203327%204455> |
>frederick.pauling at csiro.au<mailto:frederick.pauling at csiro.au> |
>www.csiro.au<http://www.csiro.au>
>Address: Queensland Centre for Advanced Technologies,
>Technology Court (off Bainbridge Drive)
>Pullenvale QLD 4069
>
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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 co
>de.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 co
>de.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 co
>de.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_comm
>on_drivers/trunk/iri_hokuyo_laser/><https://devel.iri.upc.edu/pub/labrobot
>ica/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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