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subscribe NAO laser head data

asked 2013-06-25 21:53:40 -0500

noob_coder gravatar image

updated 2014-01-28 17:17:02 -0500

ngrennan gravatar image

I am using NAO "Osiris", NAO with laser on the head. I want to get the laser data so I can use SLAM with gmapping, etc.

How to get the laser data ?


Update : I already solved that. I decided to not use directly but from the NaoQi SDK. But as mentioned in the answer, it is very slow.

If someone need the code, I put it here :


I am using NAO robot right now. And I need to get the laser data, but the current NAO stack doesn't provide that. The NAO that I use is NAO with laser head. The laser is Hokuyo URG-04LX.

I want to create node which publish LaserScan topic that I get from NaoQi SDK. From the NaoQi, I can get this information : - Min/Max Degree - Min/Max Distance - Array of Distance (size about : +/- 700)

Can I use that information to create the node that publish LaserScan topic ? If yes, can someone provide me the example of Hokuyo URG-04LX laser header, angle_increment, etc ?

If it is possible, I also want the example from the Hokuyo URG-04LX in the *.bag file.

Thank you :)

Update : thanks to the comment, I already can get the information via NaoQi SDK.

I put my code here, in case someone want to use it.

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2 Answers

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answered 2013-06-26 00:26:27 -0500

AHornung gravatar image

You just start the hokuyo_node laser driver on the Nao and subscribe to the topic scan, that's all. For that to work you will have to crosscompile ROS (or at least the relevant parts including the hokuyo_node) for the Nao.

We also had some problems with the serial connection of the Nao's laser, so we connected the Hokuyo via USB instead.

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so I must install ROS inside the NAO ? can't I retrieve that from the computer ?

noob_coder gravatar imagenoob_coder ( 2013-06-26 01:59:21 -0500 )edit

No, how else would you access the hardware that is attached to the robot? Unless you want to plug in the Hokuyo directly into the PC...

AHornung gravatar imageAHornung ( 2013-06-26 02:01:53 -0500 )edit

Ok, I will try it ... thx for the your information

noob_coder gravatar imagenoob_coder ( 2013-06-26 22:29:19 -0500 )edit

@AHornung : do you know how to open the head, so I can access the hokuyo directly ? thx

noob_coder gravatar imagenoob_coder ( 2013-07-02 19:41:40 -0500 )edit

@noob_coder: Well, there are screws ;) Our head has a small opening where the USB port of the Hokuyo is to directly access it without opening the head.

AHornung gravatar imageAHornung ( 2013-07-02 23:07:58 -0500 )edit

:( i didn't get permission to open the head :( ... they told me to get it without open the head ... can you help me ? can I create rostopic /scan from the data I got with python NaoQi SDK ? (i can retrieve with memory.getData("Device/Laser/Value") ? please guide me :(

noob_coder gravatar imagenoob_coder ( 2013-07-03 00:25:46 -0500 )edit

Write a wrapper node similar to that puts the data in a scan message. We once had this, but it was awfully slow to get the data over NaoQI (3Hz vs 10Hz with the ROS Hokuyo driver).

AHornung gravatar imageAHornung ( 2013-07-03 00:36:45 -0500 )edit

maybe I will try to get a shot, do you mind if I use your code ? can you send it to me or put it into ? I need that so bad :( thank you

noob_coder gravatar imagenoob_coder ( 2013-07-03 00:53:55 -0500 )edit

answered 2015-05-19 13:04:05 -0500

heromoga2000 gravatar image

HI How do you solve it ? thanks

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Asked: 2013-06-25 21:53:40 -0500

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Last updated: May 19 '15