Feel free to submit an enhancement ticket for the hokuyo_node:<div><a href="https://code.ros.org/trac/ros-pkg/newticket?component=laser_drivers&type=enhancement&laser_drivers">https://code.ros.org/trac/ros-pkg/newticket?component=laser_drivers&type=enhancement&laser_drivers</a></div>
<div><br></div><div>I was looking around to find documentation on 2.2, but the main Hokuyo download page still only lists 1.1 and 2.0:</div><div><a href="http://www.hokuyo-aut.jp/02sensor/07scanner/download/index.html">http://www.hokuyo-aut.jp/02sensor/07scanner/download/index.html</a></div>
<div><br></div><div>If you have more information, just include links on the ticket and we'll see what it will take to update the driver.</div><div><br><div class="gmail_quote">2012/2/13 Martí Morta <span dir="ltr"><<a href="mailto:mmorta@iri.upc.edu">mmorta@iri.upc.edu</a>></span><br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div bgcolor="#FFFFFF" text="#000000">
Hi Frederick,<br>
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.<br>
If you are thinking in making a wrapper of the urgwidget you are
welcome to use our scripts [1] to easily create nodes.<br>
Anyway as soon as we have our driver working I'll tell you.<br>
<br>
[1]
<a href="http://wikiri.upc.es/index.php/IRI_ROS#IRI_ROS_Script_tutorials" target="_blank">http://wikiri.upc.es/index.php/IRI_ROS#IRI_ROS_Script_tutorials</a><span class="HOEnZb"><font color="#888888"><br>
<br>
Martí Morta</font></span><div><div class="h5"><br>
<br>
On 02/13/12 06:56, <a href="mailto:Frederick.Pauling@csiro.au" target="_blank">Frederick.Pauling@csiro.au</a> wrote:
<blockquote type="cite">
<pre>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 <a href="http://sourceforge.net/projects/urgwidget/" target="_blank">http://sourceforge.net/projects/urgwidget/</a>, 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: <a href="tel:%2B61%207%203327%204049" value="+61733274049" target="_blank">+61 7 3327 4049</a> | Fax: <a href="tel:%2B61%207%203327%204455" value="+61733274455" target="_blank">+61 7 3327 4455</a> |
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From: Martí Morta <<a href="mailto:mmorta@iri.upc.edu" target="_blank">mmorta@iri.upc.edu</a><a href="mailto:mmorta@iri.upc.edu" target="_blank"><mailto:mmorta@iri.upc.edu></a>>
Reply-To: User discussions <<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><a href="mailto:ros-users@code.ros.org" target="_blank"><mailto:ros-users@code.ros.org></a>>
Date: Wed, 8 Feb 2012 21:28:32 +1100
To: "<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><a href="mailto:ros-users@code.ros.org" target="_blank"><mailto:ros-users@code.ros.org></a>" <<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><a href="mailto:ros-users@code.ros.org" target="_blank"><mailto:ros-users@code.ros.org></a>>
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] <a href="http://wikiri.upc.es/index.php/Hokuyo_Laser_driver" target="_blank">http://wikiri.upc.es/index.php/Hokuyo_Laser_driver</a>
[2] <a href="https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_common_drivers/trunk/iri_hokuyo_laser/" target="_blank"><https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_common_drivers/trunk/iri_hokuyo_laser/></a> <a href="http://www.ros.org/wiki/iri_hokuyo_laser" target="_blank">http://www.ros.org/wiki/iri_hokuyo_laser</a>
</pre>
<blockquote type="cite">
<pre>The UTM-30LX-EW (<a href="http://www.autonomoustuff.com/hokuyo-utm-30lx-ew.html" target="_blank">http://www.autonomoustuff.com/hokuyo-utm-30lx-ew.html</a>)
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
</pre>
</blockquote>
<pre>--
Martí Morta Garriga. Support Engineer.
Institut de Robòtica i Informàtica Industrial (UPC-CSIC)
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</pre>
</blockquote>
<br>
<pre cols="72">--
Martí Morta Garriga. Support Engineer.
Institut de Robòtica i Informàtica Industrial (UPC-CSIC)</pre>
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