Only released in EOL distros:
hrl_hardware_drivers: force_torque | hrl_hokuyo | hrl_segway_omni | hrl_tilting_hokuyo | pan_tilt_robotis | phantom_omni | robotis | zenither
Package Summary
Documented
Python class that uses hokuyo_node from ros-pkg to get scans from UTMs and player to get scans from URGs.
- Author: Advait Jain, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
- License: New BSD
- Source: git https://code.google.com/p/gt-ros-pkg.hrl/ (branch: master)
Contents
Usage
cd src/hrl_hokuyo python hokuyo_processing.py -h
The output will be:
Usage: hokuyo_processing.py [options]
Options:
-h, --help show this help message and exit
-t HOKUYO_TYPE hokuyo_type. urg or utm
-a AVG number of scans to average
-n HOKUYO_NUMBER hokuyo number. 0,1,2 ...
-f flip the hokuyo scan
--ang_range=ANG_RANGE
max angle of the ray to display (degrees)- Given an appropriate hokuyo number and type this will visualize the hokuyo scans in a pygame window.
- Prior to running hokuyo_processing.py, launch a hokuyo_node. Look at cody_utm0.launch for an example.
- Alternately, look at hokuyo_scan.py
ROS API
Subscribes to sensor_msgs/LaserScan.
TODOs
- URG support is outdated - uses player. Needs to be changed.
Troubleshooting
roslaunch ele_utm.launch gives this error: Failed to open port /dev/robot/hokuyo_hokuyo_serial_number> error=2 : No such file or directory
- Restart udev:
sudo /etc/init.d/udev restart (For Hardy Heron, Ubuntu 8.04)
sudo restart udev (For Lucid Lynx, Ubuntu 10.04)
ls /dev/robot - you should see your Hokuyo device.
- If you don't see it, try unplugging it from the usb port, power cycling the UTM, plugging the UTM back into the usb port and restarting udev.
- Restart udev:
