Package Summary

Python class that uses hokuyo_node from ros-pkg to get scans from UTMs and player to get scans from URGs.

Author: Advait Jain, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
License: New BSD
Source: git https://code.google.com/p/gt-ros-pkg.hrl/ (branch: master)

Contents

Usage
ROS API
TODOs
Troubleshooting

Usage

 cd src/hrl_hokuyo
 python hokuyo_processing.py -h

The output will be:

Usage: hokuyo_processing.py [options]

Options:
  -h, --help            show this help message and exit
  -t HOKUYO_TYPE        hokuyo_type. urg or utm
  -a AVG                number of scans to average
  -n HOKUYO_NUMBER      hokuyo number. 0,1,2 ...
  -f                    flip the hokuyo scan
  --ang_range=ANG_RANGE
                        max angle of the ray to display (degrees)

Given an appropriate hokuyo number and type this will visualize the hokuyo scans in a pygame window.
Prior to running hokuyo_processing.py, launch a hokuyo_node. Look at cody_utm0.launch for an example.
Alternately, look at hokuyo_scan.py

ROS API

Subscribes to sensor_msgs/LaserScan.

TODOs

URG support is outdated - uses player. Needs to be changed.

Troubleshooting

roslaunch ele_utm.launch gives this error: Failed to open port /dev/robot/hokuyo_hokuyo_serial_number> error=2 : No such file or directory
1. Restart udev:
  1. sudo /etc/init.d/udev restart (For Hardy Heron, Ubuntu 8.04)
  2. sudo restart udev (For Lucid Lynx, Ubuntu 10.04)
2. ls /dev/robot - you should see your Hokuyo device.
3. If you don't see it, try unplugging it from the usb port, power cycling the UTM, plugging the UTM back into the usb port and restarting udev.