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Laser Assembler with Hokuyo Utm-30lx

asked 2011-05-29 17:30:07 -0500

kp3509 gravatar image

updated 2014-01-28 17:09:45 -0500

ngrennan gravatar image

Hi, I have successfully run the laser_assembler tutorial at: http://www.ros.org/wiki/laser_assembl... The tutorial uses a bag file containing the laser data. How can I change the parameters of this tutorial to work with real time hokuyo laser topic that is being published?

Changing parameters in the launch file below does not seem to help.

<launch> <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler"> <remap from="scan" to="tilt_scan"/> </node> </launch>

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Could you forward that bag file to me if you still have it? Apparently, it has been removed from the tutorial.

Shantnu gravatar image Shantnu  ( 2016-06-08 03:44:18 -0500 )edit

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answered 2011-05-29 22:58:19 -0500

A simple launch file that starts the Hokuyo driver and the assembler would look something like this. First, launch the Hokuyo laser:

  <node type="hokuyo_node" pkg="hokuyo_node" name="hokuyo_node/>

Verify that you are getting correct laser data. To do that, you can run rviz, add a LaserScan display, and set the fixed frame option to "laser".

The second step is launching the assembler. Both the hokuyo node and the assembler use scan as the default topic, so no need to remap.

  <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler"> 
    <param name="fixed_frame" type="string" value="base_link"/> 
  </node>

The last step is to add something that is publishing the correct transform between the base_link and the laser frames.

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Asked: 2011-05-29 17:30:07 -0500

Seen: 1,225 times

Last updated: May 29 '11