Difference between revisions of "Hokuyo URG-04LX-UGo1"
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| + | = Hokuyo Reference = | ||
| + | |||
| + | * [http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/ URG-04LX-UG01] | ||
| + | * [http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_spec_en.pdf Specs] | ||
| + | * [http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_ed_en.pdf Tech Drawing] for screw size and placement. (2-M3 Depth 6 metric 6 mm max depth) | ||
| + | |||
= URG Drivers = | = URG Drivers = | ||
| Line 11: | Line 17: | ||
sudo apt-get install ros-indigo-urg-node | sudo apt-get install ros-indigo-urg-node | ||
| + | |||
| + | === If cdc_ace Linux module is Blacklisted === | ||
| + | |||
| + | This may have been done to make the XV-11 LIDAR work. See | ||
| + | * [[Hood_XV_11_ROS_Install#Install]] | ||
| + | |||
| + | cd /etc/modprobe.d/ | ||
| + | |||
| + | diff blacklist.conf.org blacklist.conf | ||
| + | 55a56 | ||
| + | > blacklist cdc_acm | ||
| + | |||
| + | sudo cp blacklist.conf blacklist.conf.xv11 | ||
| + | |||
| + | sudo cp blacklist.conf.org blacklist.conf | ||
| + | |||
| + | Reboot | ||
== Test == | == Test == | ||
| Line 18: | Line 41: | ||
Terminal 2 | Terminal 2 | ||
| + | ls -l /dev/ttyACM0 | ||
| + | |||
| + | sudo chmod 666 /dev/ttyACM0 | ||
| + | |||
rosrun urg_node urg_node | rosrun urg_node urg_node | ||
| Line 28: | Line 55: | ||
** Topic is "/scan" | ** Topic is "/scan" | ||
| − | [[Image:rviz_hokuyo.png]] | + | [[Image:rviz_hokuyo.png|600px]] |
| + | == Create Package == | ||
| − | + | Creating a ROS package as some place to develop launch scripts for the Hokuyo LIDAR. | |
| − | + | cd catkin_ws_indigo/src/ | |
| − | + | ||
| − | + | catkin_create_pkg hokuyo_bot std_msgs rospy roscpp | |
| − | + | ||
| − | + | cd .. | |
| − | + | ||
| + | catkin_make | ||
| + | |||
| + | source devel/setup.bash | ||
| + | |||
| + | roscd hokuyo_bot | ||
| + | |||
| + | mkdir launch | ||
| − | + | = Hokuyo Driver - depreciated = | |
| − | + | Old drivers for USB only. | |
| − | + | ||
| − | + | ||
| − | + | == Reference == | |
| − | + | * [http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode ROS Hokuyo Tutorial] | |
| − | + | * [http://answers.ros.org/question/10145/navigation-stack-hokuyo_node/ Navigation Stack Example] | |
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| + | == Install == | ||
| − | + | sudo apt-get install ros-indigo-hokuyo-node | |
| + | == Test == | ||
| − | + | terminal 2 | |
| − | + | ls -l /dev/ttyACM0 | |
| − | + | ||
| − | + | sudo chmod 666 /dev/ttyACM0 | |
| + | |||
| + | rosrun hokuyo_node hokuyo_node | ||
| + | |||
| + | terminal 3 | ||
| + | |||
| + | rosrun rviz rviz | ||
| − | + | See above for setting up rviz | |
| − | + | ||
Latest revision as of 20:35, 7 September 2016
Contents
Hokuyo Reference
- URG-04LX-UG01
- Specs
- Tech Drawing for screw size and placement. (2-M3 Depth 6 metric 6 mm max depth)
URG Drivers
Prefered latest drivers.
References
Install
sudo apt-get install ros-indigo-urg-node
If cdc_ace Linux module is Blacklisted
This may have been done to make the XV-11 LIDAR work. See
cd /etc/modprobe.d/ diff blacklist.conf.org blacklist.conf 55a56 > blacklist cdc_acm sudo cp blacklist.conf blacklist.conf.xv11 sudo cp blacklist.conf.org blacklist.conf
Reboot
Test
Terminal 1
roscore
Terminal 2
ls -l /dev/ttyACM0 sudo chmod 666 /dev/ttyACM0 rosrun urg_node urg_node
Terminal 3
rosrun rviz rviz
- Global Options
- Fixed Frame is "laser"
- LaserScan
- Topic is "/scan"
Create Package
Creating a ROS package as some place to develop launch scripts for the Hokuyo LIDAR.
cd catkin_ws_indigo/src/ catkin_create_pkg hokuyo_bot std_msgs rospy roscpp cd .. catkin_make source devel/setup.bash roscd hokuyo_bot mkdir launch
Hokuyo Driver - depreciated
Old drivers for USB only.
Reference
Install
sudo apt-get install ros-indigo-hokuyo-node
Test
terminal 2
ls -l /dev/ttyACM0 sudo chmod 666 /dev/ttyACM0 rosrun hokuyo_node hokuyo_node
terminal 3
rosrun rviz rviz
See above for setting up rviz
