spin_hokuyo repository

Repository Summary

Checkout URI https://github.com/RobustFieldAutonomyLab/spin_hokuyo.git
VCS Type git
VCS Version master
Last Updated 2017-10-16
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
spin_hokuyo 1.0.0

README

spin_hokuyo

This repository contains code to control a Dynamixel motor and a 2D Hokuyo LiDAR to create a 3D point cloud that can be visualized in rviz. This point cloud can then be used to create an octomap (code for this is not included in this repository).
Wiki Page: http://wiki.ros.org/spin_hokuyo

Setup Directions

  1. Download this ROS Package:

sudo apt-get install ros-indigo-spin-hokuyo
2. In the tutorials/launch folder, update the basic_motors.launch file, go to line 12. These parameters are used to set up the dynamixel_motor package. In particular, make sure the port_name and baud_rate match your servo. Also, check that your motor id falls within the inclusive range from min_motor_id to max_motor_id. 3. In the tutorials/launch folder, update the basic_motors.launch file, go to line 12. These parameters are used to set up the dynamixel_motor package. In particular, make sure the port_name and baud_rate match your servo. Also, check that your motor id falls within the inclusive range from min_motor_id to max_motor_id. 4. Save and compile changes (if applicable).

roslaunch spin_hokuyo basic_motors.launch
5. In a new terminal, open the rostopics list. There should be two new commands: /tilt_controller/command and /tilt_controller/state. /command will issue new positions to the motor via Float64 (try this using rostopic pub). /state will list various pieces of information about the motor (rostopic echo). 6. If this is fully functional, kill the node and do:

roslaunch spin_hokuyo tilting_continuous.launch
This should cause the motor to regularly sweep from 90 to -90 and generate a point cloud. Be sure to update the dynamixel_servos_tilting.yaml for position, speed, etc.

Possible Dynamixel Errors

Is the USB properly inserted and setup for your computer?
Is the Dynamixel connected to a 12V power source via the adapter?
Is the switch on the USB adapter at the proper loaction?

Acknowledgements

Inspired by the work seen here: https://github.com/gcc-robotics/3d_photobooth/blob/master/CapstoneFinalReport_VisionTeam.pdf

Dynamixel Control

The class system used to control the Dynamixel motors and the basis for the servo template were based on the examples provided in Chap. 8 of "Effective Robotics Programming with ROS - Third Edition" by Anil Mahtani, Luis Sanchez, Enrique Fernandea, and Aaron Martinez.

pcl_assembler_client

The pcl_assembler_client is a modified form of the periodic_snapshotter.cpp which is included in the /examples folder of laser_assembler which is hosted at: https://github.com/ros-perception/laser_assembler

Authors

Sarah Bertussi, Paul Szenher, Shi Bai. RFAL (Robust Field Autonomy Lab), Stevens Institute of Technology.

CONTRIBUTING

No CONTRIBUTING.md found.