urg_node repository

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version ros2-devel
Last Updated 2020-06-10
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
urg_node 1.0.1

README

urg_node

LaserScan Visualization

Until the launch API is sorted out, there are two ways to view the laserscan in RViz:

1) use the static_transform_publisher tool from tf2_ros to publish a static transform for a fixed frame simultaneously with rviz and urg_node.

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

where "laser" is the frame id, which you can set in your urg_node yaml file

2) Run the robot_state_publisher along with a urdf file so that a fixed frame can be loaded in rviz

ros2 run robot_state_publisher robot_state_publisher <path to urdf file>

A urdf file is already included and if you have succesfully ran an colcon build, the path to urdf file will be:

<path to ros2_ws>/install/share/urg_node/launch/hokuyo_laser.urdf

Parameters

A YAML file example is included in the launch folder, all the available parameters are listed in it. For example (note that the serial_port is commented because you can't set a param with an empty string):

urg_node:
  ros__parameters:
    ip_address: "192.168.0.10"
    ip_port: 10940
    #serial_port: ""
    serial_baud: 115200
    laser_frame_id: laser
    angle_max: 3.14
    angle_min: -3.14
    publish_intensity: false
    publish_multiecho: false
    calibrate_time: false
    default_user_latency: 0
    diagnostics_tolerance: 0.05
    diagnostics_window_time: 5.0
    error_limit: 4
    get_detailed_status: false
    cluster: 0
    skip: 1

To give parameters to urg_node :

ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

You can reconfigure parameters while the node is launched. For now, you can only reconfigure the following parameters:

laser_frame_id
error_limit
default_user_latency
angle_max
angle_min
cluster
skip

For example to reconfigure the cluster parameter using command line :

ros2 param set /urg_node cluster 1

How to use the ust-20lx (and other ethernet based laser)

To use ust-20lx, you need to be on the same subnet as the laser. The ust-20lx default ip is 192.168.0.10, so you might need to change your ip, for something on the same subnet.

On Ubuntu : - go to the network settings - settings of the wired connection - under IPv4, change the IPv4 method from automatic to Manual and under Addresses, set the values:

    Address : 192.168.0.15
    Netmask : 255.255.255.0
    Gateway : 192.168.0.1

  • Turn off and on the connection or wait a bit for the change to apply
  • To check if it worked, open a terminal and type
ifconfig

  • Under eth0 (or maybe something like enpxxxxx), your IP should be 192.168.0.15. You should now be able to ping the ust-20lx at its address (by default 192.168.0.10)
ping 192.168.0.10

If you don't receive any answer, you might have a connection problem or the IP of your laser might have been change, either find it and go on the same subnet or reset it.

  • Once you can ping the laser, you can launch the urg_node_driver:
ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

then the static publisher:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

and rviz:

ros2 run rviz2 rviz2

Add the laserScan topic, change the frame on rviz from map to world and you should be able to see the laser.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version ros2-devel
Last Updated 2020-06-10
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
urg_node 1.0.1

README

urg_node

LaserScan Visualization

Until the launch API is sorted out, there are two ways to view the laserscan in RViz:

1) use the static_transform_publisher tool from tf2_ros to publish a static transform for a fixed frame simultaneously with rviz and urg_node.

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

where "laser" is the frame id, which you can set in your urg_node yaml file

2) Run the robot_state_publisher along with a urdf file so that a fixed frame can be loaded in rviz

ros2 run robot_state_publisher robot_state_publisher <path to urdf file>

A urdf file is already included and if you have succesfully ran an colcon build, the path to urdf file will be:

<path to ros2_ws>/install/share/urg_node/launch/hokuyo_laser.urdf

Parameters

A YAML file example is included in the launch folder, all the available parameters are listed in it. For example (note that the serial_port is commented because you can't set a param with an empty string):

urg_node:
  ros__parameters:
    ip_address: "192.168.0.10"
    ip_port: 10940
    #serial_port: ""
    serial_baud: 115200
    laser_frame_id: laser
    angle_max: 3.14
    angle_min: -3.14
    publish_intensity: false
    publish_multiecho: false
    calibrate_time: false
    default_user_latency: 0
    diagnostics_tolerance: 0.05
    diagnostics_window_time: 5.0
    error_limit: 4
    get_detailed_status: false
    cluster: 0
    skip: 1

To give parameters to urg_node :

ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

You can reconfigure parameters while the node is launched. For now, you can only reconfigure the following parameters:

laser_frame_id
error_limit
default_user_latency
angle_max
angle_min
cluster
skip

For example to reconfigure the cluster parameter using command line :

ros2 param set /urg_node cluster 1

How to use the ust-20lx (and other ethernet based laser)

To use ust-20lx, you need to be on the same subnet as the laser. The ust-20lx default ip is 192.168.0.10, so you might need to change your ip, for something on the same subnet.

On Ubuntu : - go to the network settings - settings of the wired connection - under IPv4, change the IPv4 method from automatic to Manual and under Addresses, set the values:

    Address : 192.168.0.15
    Netmask : 255.255.255.0
    Gateway : 192.168.0.1

  • Turn off and on the connection or wait a bit for the change to apply
  • To check if it worked, open a terminal and type
ifconfig

  • Under eth0 (or maybe something like enpxxxxx), your IP should be 192.168.0.15. You should now be able to ping the ust-20lx at its address (by default 192.168.0.10)
ping 192.168.0.10

If you don't receive any answer, you might have a connection problem or the IP of your laser might have been change, either find it and go on the same subnet or reset it.

  • Once you can ping the laser, you can launch the urg_node_driver:
ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

then the static publisher:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

and rviz:

ros2 run rviz2 rviz2

Add the laserScan topic, change the frame on rviz from map to world and you should be able to see the laser.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version ros2-devel
Last Updated 2020-06-10
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
urg_node 1.0.1

README

urg_node

LaserScan Visualization

Until the launch API is sorted out, there are two ways to view the laserscan in RViz:

1) use the static_transform_publisher tool from tf2_ros to publish a static transform for a fixed frame simultaneously with rviz and urg_node.

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

where "laser" is the frame id, which you can set in your urg_node yaml file

2) Run the robot_state_publisher along with a urdf file so that a fixed frame can be loaded in rviz

ros2 run robot_state_publisher robot_state_publisher <path to urdf file>

A urdf file is already included and if you have succesfully ran an colcon build, the path to urdf file will be:

<path to ros2_ws>/install/share/urg_node/launch/hokuyo_laser.urdf

Parameters

A YAML file example is included in the launch folder, all the available parameters are listed in it. For example (note that the serial_port is commented because you can't set a param with an empty string):

urg_node:
  ros__parameters:
    ip_address: "192.168.0.10"
    ip_port: 10940
    #serial_port: ""
    serial_baud: 115200
    laser_frame_id: laser
    angle_max: 3.14
    angle_min: -3.14
    publish_intensity: false
    publish_multiecho: false
    calibrate_time: false
    default_user_latency: 0
    diagnostics_tolerance: 0.05
    diagnostics_window_time: 5.0
    error_limit: 4
    get_detailed_status: false
    cluster: 0
    skip: 1

To give parameters to urg_node :

ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

You can reconfigure parameters while the node is launched. For now, you can only reconfigure the following parameters:

laser_frame_id
error_limit
default_user_latency
angle_max
angle_min
cluster
skip

For example to reconfigure the cluster parameter using command line :

ros2 param set /urg_node cluster 1

How to use the ust-20lx (and other ethernet based laser)

To use ust-20lx, you need to be on the same subnet as the laser. The ust-20lx default ip is 192.168.0.10, so you might need to change your ip, for something on the same subnet.

On Ubuntu : - go to the network settings - settings of the wired connection - under IPv4, change the IPv4 method from automatic to Manual and under Addresses, set the values:

    Address : 192.168.0.15
    Netmask : 255.255.255.0
    Gateway : 192.168.0.1

  • Turn off and on the connection or wait a bit for the change to apply
  • To check if it worked, open a terminal and type
ifconfig

  • Under eth0 (or maybe something like enpxxxxx), your IP should be 192.168.0.15. You should now be able to ping the ust-20lx at its address (by default 192.168.0.10)
ping 192.168.0.10

If you don't receive any answer, you might have a connection problem or the IP of your laser might have been change, either find it and go on the same subnet or reset it.

  • Once you can ping the laser, you can launch the urg_node_driver:
ros2 run urg_node urg_node_driver __params:=path/to/my/file.yaml

then the static publisher:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

and rviz:

ros2 run rviz2 rviz2

Add the laserScan topic, change the frame on rviz from map to world and you should be able to see the laser.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-06-04
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
urg_node 0.1.14

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-06-04
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
urg_node 0.1.14

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-06-04
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
urg_node 0.1.14

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version indigo-devel
Last Updated 2020-03-27
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
urg_node 0.1.13

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version indigo-devel
Last Updated 2020-03-27
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
urg_node 0.1.13

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version indigo-devel
Last Updated 2020-03-27
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
urg_node 0.1.13

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-drivers/urg_node.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-04-21
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
urg_node 0.1.7

README

urg_node

ROS wrapper for the Hokuyo urg_c library.

CONTRIBUTING

No CONTRIBUTING.md found.