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Deepak, <br>
With regards to the login, can you try again after waiting 15 minutes.
It takes 15-20 minutes for a login to propagate to all the different
tracs etc on ros.org. If you're still having trouble please let us
know. <br>
<br>
Tully<br>
<br>
On 08/21/2010 09:06 PM, <a class="moz-txt-link-abbreviated" href="mailto:DRamachandran@hra.com">DRamachandran@hra.com</a> wrote:
<blockquote cite="mid:OF69B4B47F.9E9E9934-ON88257787.001695A0@hra.com"
type="cite">
<p><br>
Blaise,</p>
<p> I tried to post this at the trac site. But I can't seem to login
after registering. So I'm posting this here. Sorry everybody for the
spam.</p>
<p>~Deepak</p>
<p> </p>
<p>I tried playing around with the modified code. I can get ::open to
work on the hokuyo port by setting the O_EXLOCK flag. Also there are
some other<br>
settings that need to be changed with tcsetattr() and I've made those
changes in the <br>
code below. </p>
<p> However, laserReadLine() hangs when trying to read a line from
the file. It seems<br>
that fgets() doesn't work on the usb in mac. I tried using read()
instead <br>
but that reads a fixed amount of data from the port and does not<br>
stop on newline.</p>
<p> Now I'm at a loss to proceed. Any ideas? I'm not much of a driver<br>
hacker and don't really understand all the hokuyo code, so I'm not sure
I can fix this myself.</p>
<p>What I have so far is attached.</p>
<p>~Deepak</p>
<p> </p>
<p> </p>
<p> </p>
<p><br>
<br>
<font style="font-size: 9pt;" size="2"><b>Blaise Gassend
<a class="moz-txt-link-rfc2396E" href="mailto:blaise@willowgarage.com"><blaise@willowgarage.com></a></b></font><br>
<font style="font-size: 9pt;" size="2">Sent by:
<a class="moz-txt-link-abbreviated" href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a></font><br>
<font style="font-size: 9pt;" size="2">08/19/2010 12:40 AMPlease
respond <a class="moz-txt-link-abbreviated" href="mailto:toros-users@code.ros.org">toros-users@code.ros.org</a></font><br>
<br>
<font style="font-size: 9pt;" size="2">To</font> <font
style="font-size: 9pt;" size="2"><a class="moz-txt-link-abbreviated" href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a></font><br>
<font style="font-size: 9pt;" size="2">cc</font> <br>
<font style="font-size: 9pt;" size="2">bcc</font> <font
style="font-size: 9pt;" size="2">Deepak Ramachandran/HRA/ASC/HONDA</font><br>
<font style="font-size: 9pt;" size="2">Subject</font> <font
style="font-size: 9pt;" size="2">Re: [ros-users] hokuyo on mac</font><br>
<br>
<br>
</p>
<p><font face="Monospace,Courier">I have replied in the trac ticket:</font><br>
<font color="BLUE" face="Monospace,Courier"><u><a
moz-do-not-send="true"
href="https://code.ros.org/trac/ros-pkg/ticket/3826">https://code.ros.org/trac/ros-pkg/ticket/3826</a></u></font><font
color="BLACK"><br>
<br>
</font><font face="Monospace,Courier">Please try to post answers
there. It makes the discussion easier to keep track of later.</font><br>
<br>
<font face="Monospace,Courier">The short of it is that I pushed a
patch into trunk that looks more like Hokuyo's code, and I would be
interested in having you give it a spin.</font><br>
<br>
<font face="Monospace,Courier">On Wed, Aug 18, 2010 at 8:14 PM, <</font><font
color="BLUE" face="Monospace,Courier"><u><a moz-do-not-send="true"
href="mailto:DRamachandran@hra.com">DRamachandran@hra.com</a></u></font><font
color="BLACK" face="Monospace,Courier">> wrote:</font><br>
<br>
<br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>Blaise,</b></font><br>
<br>
<br>
<font style="font-size: 8pt;" face="Default Sans Serif" size="2">
So I have a rudimentary version working now. I downloaded the hokuyo
sample code from</font><br>
<font face="'Courier New'">here:</font><br>
<br>
<font color="BLUE" face="'Courier New'"><u><a
moz-do-not-send="true"
href="http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/index.html">http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/index.html</a></u></font><font
color="BLACK"><br>
<br>
</font><font style="font-size: 8pt;" face="Default Sans Serif"
size="2">and adapted md_scan.c so that it outputs the data to a file
which I then read from within a ros node. Kind of hackish, but the
problem was that the c++ version didn't compile on my machine (linker
errors within SDL (?) ). </font><br>
<br>
<font style="font-size: 8pt;" face="Default Sans Serif" size="2">I'm
not sure if what I have is enough however. I guess the ros drivers do
some postprocessing on the scan data before outputting, which I don't.
I tried integrating with some odometry for my robot (which I know is
fairly accurate) to do simple localization in AMCL and the particles
jump all over the place and then the covariance blows up very fast to
NaNs. Is this what you would expect with unfiltered laser data?</font><br>
<br>
<font face="'Courier New'">What should I do next? I can try
integrating this code into the ROS hokuyo driver. It should be as
simple as replacing the fopen with the setSerial code in the hokuyo
sample code. I think that be best done by someone who knows what he is
doing.</font><br>
<br>
<font face="'Courier New'">~Deepak </font><br>
<br>
<br>
<br>
<br>
<br>
<br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>No,
I haven't worked on it more. Because the problem is happening on the</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>open
command, it isn't even clear that the MacOS USB driver is doing the</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>right
thing. If I were you I would look for success stories for USB</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>Hokuyos
on MacOS. They might give some useful pointers.</b></font><br>
<br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>On
Wed, 2010-08-11 at 18:13 -0700, </b></font><font
style="font-size: 22pt;" color="BLUE" face="Default Sans Serif"
size="6"><b><u><a moz-do-not-send="true"
href="mailto:DRamachandran@hra.com">DRamachandran@hra.com</a></u></b></font><font
style="font-size: 22pt;" color="BLACK" face="Default Sans Serif"
size="6"><b> wrote:</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
Hi Blaise,</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>> </b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
Sorry for the 8months (!!) gap in reply. I was distracted by other</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
things and stopped working on this. </b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
But now I'm planning to get back to working on this and I was</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
wondering a solution has been found yet ?</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>> </b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
cliff notes: Hokuyo not working on mac os x snow leopard, ros 1.0.0.</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
fopen call on hokuyo tty hanging. reason unknown. last email of</b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>>
previous thread attached. </b></font><br>
<font style="font-size: 22pt;" face="Default Sans Serif" size="6"><b>> </b></font><br>
<br>
<br>
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