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Offworld-Robotics / numbat_software

Off World Robotics NUMBAT Backend
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Hokuyo lidar + ROS #2

Closed StephMc closed 10 years ago

StephMc commented 10 years ago

Interface the Hokuyo lidar (URG-04LX-UG01) with ROS. Be able to get a raw stream of data out (distance, angle and intensity (if the lidar has this)) and also be able to visualise the data.

StephMc commented 10 years ago

Install drivers: sudo apt-get install ros-hydro-urg-node In a terminal: $ roscore In another Terminal: $ rosrun urg_node urg_node In another Terminal: $ rosrun rviz rviz

To use rviz: Click add in the bottom left hand corner, select the from topic tab and choose the lazerscan option. In global settings (options on the left) change the fixed frame from map to the frame given by $ rostopic echo /scan -n 1 --noarr. The laser scan should then be displayed.