Revision as of 11:42, 6 September 2016

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

• URG Home
• ROS URG

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

• 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

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

Old drivers for USB only.

Reference

• ROS Hokuyo Tutorial

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