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

[Armin Hornung]

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