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socrob / autonomous_systems

Material used for learning ROS and robotics, as part of the Autonomous Systems course at Instituto Superior Tecnico
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hokuyo driver - no hokuyo node in indigo #6

Open oscar-lima opened 7 years ago

oscar-lima commented 7 years ago

use urg_node instead:

sudo apt-get install ros-kinetic-urg-node

here is an example launch file

    <!-- hokuyo usb port paths -->
    <arg name="hokuyo_front_port" default="/dev/mbot/hokuyo-front" />
    <arg name="hokuyo_rear_port" default="/dev/mbot/hokuyo-rear" />

    <!-- front laser scanner driver -->
    <node pkg="urg_node" type="urg_node" name="hokuyo_node_front">
      <remap from="/scan" to="scan_front" />
      <param name="ip_address" value=""/>
      <param name="serial_port" value="$(arg hokuyo_front_port)"/>
      <param name="serial_baud" value="115200"/>
      <param name="frame_id" value="base_laser_front_link"/>
      <param name="calibrate_time" value="true"/>
      <param name="publish_intensity" value="false"/>
      <param name="publish_multiecho" value="false"/>
      <param name="angle_min" value="-1.5707963"/>
      <param name="angle_max" value="1.5707963"/>
    </node>

you will need udev rules, installed on your system:

SUBSYSTEM=="tty", KERNEL=="ttyACM*", SYMLINK+="mbot/hokuyo-front", MODE="0666"