search

andrewneill / urg_node_handc

ROS Publisher for the Hokuyo URG Lidar systems with a height and clearance addition for our custom mirror mount
0 stars 0 forks source link

State of the art #1

Open tiralonghipol opened 6 years ago

tiralonghipol commented 6 years ago

Hi! I'm really interested in this project and I was wondering what is the state of the art. Is it working or do I have to modify something in the code?

Also, I could not find any 3D print project for the hokuyo mirror mount on the web... do you have any file to share?

Thanks in advance!

andrewneill commented 6 years ago

Hi Paolo,Sorry for the delayed response. Unfortunately I haven't touched this code in a long while, at least 3 years, and I'm not sure that it is state of the art. I looked for the 3d model but i'm sorry to say I couldn't find it. We made arms that held 1" square mirrors at 45 degrees out about 3" from the scanner at the furthest extents of the scan angle, practically behind the camera. One mirror directed the start of the scan up and the other directed the last few shots of the scan down, or vice versa. It worked well for our needs to sense height and clearance but once we got what we needed we moved on from it.Let me know if you have any other questions though!Best of luck to you!-Andrew On Thursday, May 31, 2018, 1:51:16 AM MDT, Paolo De Petris notifications@github.com wrote:

Hi! I'm really interested in this project and I was wondering what is the state of the art. Is it working or do I have to modify something in the code?

Also, I could not find any 3D print project for the hokuyo mirror mount on the web... do you have any file to share?

Thanks in advance!

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

tiralonghipol commented 6 years ago

Hi Andrew! Sorry to bother you, I have more question about this implementation: assuming that I am going to use this height information for pose estimation of a drone indoor (no gps), do think is better to write a ros node that publishes this information on a node o should I modify directly the firmware of the flight controller ? (pixhawk / px4 )

Thanks again

andrewneill commented 6 years ago

Hi Paolo,No problem! I think you could do either, but I would publish it on a node. I'm not very familiar with the px4 flight controller but having the topic on a node might be more modular if you change controllers eventually and easier to debug. You can also use the data for other things if you want.Just my two cents and that's where I would start, but you may find that going directly to the px4 might be better!-Andrew On Tuesday, August 21, 2018, 8:32:45 AM MDT, Paolo De Petris notifications@github.com wrote:

Hi Andrew! Sorry to bother you, I have more question about this implementation: assuming that I am going to use this height information for pose estimation of a drone indoor (no gps), do think is better to write a ros node that publishes this information on a node o should I modify directly the firmware of the flight controller ? (pixhawk / px4 )

Thanks again

— You are receiving this because you commented.

Reply to this email directly, view it on GitHub, or mute the thread.