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Copy pathROS笔记-04 install UTM-30LX-EW on ROS.txt
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ROS笔记-04 install UTM-30LX-EW on ROS.txt
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1. 浏览一下官网
http://wiki.ros.org/hokuyo_node
然后跳到 http://wiki.ros.org/urg_node，因为他说：Looking for a newer driver?...
2. 安装 urg_node(可行的！！！)
2.1 sudo apt-get install ros-indigo-urg-node (https://github.com/ros-drivers/urg_node.git)
follow: http://answers.ros.org/question/165016/problem-installing-urg_node-on-ros-hydro/
2.2 然后使用RVIZ测试一下：
a. terminal-1 运行master节点
roscore
b. terminal-2 运行驱动urg_node节点
follow: http://answers.ros.org/question/58822/use-hokuyo-lidar-with-ethernet-in-ros/?answer=59260#post-id-59260
运行前需要连接传感器，并配置好网络(能ping通)
sudo ifconfig eth0 192.168.0.11 netmask 255.255.255.0
sudo route add default gw 192.168.0.10
ping 192.168.0.10
运行节点
rosrun urg_node urg_node _ip_address:="192.168.0.10"
c. 运行仿真，添加Laser Scan
rosrun rviz rviz
[rosrun rviz rviz -d `rospack find urg_node`/urg_node.rviz]
2.3 直接源代码安装(后面可能需要修改源码)
2.3.1 需要调整 CMakeList.txt
## Modify by Durant35 to put it here, before!!!!!!!!!!!!!! ## LIBRARIES:
## Specify additional locations of header files
include_directories(include ${catkin_INCLUDE_DIRS})
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES urg_c_wrapper
CATKIN_DEPENDS roscpp sensor_msgs urg_c rosconsole nodelet dynamic_reconfigure laser_proc
DEPENDS
)
2.3.2 需要设置安装目录到你的ros目录
cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo ..
2.3.3 然后就是 make 和 make install 了
2.3.4 关键源代码
!!!!!!!!!
urg_node/src/urg_node.cpp
!!!!!!!!!
line 210: 改成发布 scan
bool publish_intensity;
//pnh.param<bool>("publish_intensity", publish_intensity, true);
// !!!! modified by Durant35
pnh.param<bool>("publish_intensity", publish_intensity, false);
bool publish_multiecho;
//pnh.param<bool>("publish_multiecho", publish_multiecho, true);
// !!!! modified by Durant35
pnh.param<bool>("publish_multiecho", publish_multiecho, false);
！！！使用的第一种方法 hokuyo_node 不行呀
cd ${ROS_WORKSPACE}/sandbox
git clone https://github.com/ros-drivers/hokuyo_node.git
安装过程各种问题摘录，也许会有用
use Hokuyo LIDAR with ethernet in ROS
from: http://answers.ros.org/question/58822/use-hokuyo-lidar-with-ethernet-in-ros/
roslaunch hokuyo_node hokuyo_test.launch
rosrun hokuyo_node hokuyo_node _ip_address:="192.168.0.10"
sourceforge -- URG Network
from: https://sourceforge.net/p/urgnetwork/wiki/ROS%20Support/?version=2
http://wiki.ros.org/hokuyo_node
Package Summary for hokuyo_node
Problem with Hokuyo UTM-30LX-EW. [closed]
http://answers.ros.org/question/134911/problem-with-hokuyo-utm-30lx-ew/
hokuyo_test.launch
This launch file shows how to start a hokuyo node.
Hokuyo UTM-30LX-EW not detected in Ubuntu or PC
http://answers.ros.org/question/62830/hokuyo-utm-30lx-ew-not-detected-in-ubuntu-or-pc/
hokuyo UTM-30LX-EW laser scanner: problems to detect
http://answers.ros.org/question/212527/hokuyo-utm-30lx-ew-laser-scanner-problems-to-detect/