xv_11_laser_driver

xv_11_laser_driver

asked 2012-01-15 04:51:23 -0500

SalutBonjour
11 ●1 ●1 ●4

updated 2012-01-16 11:29:34 -0500

Hello I want to install the xv_11_laser_driver http://www.ros.org/wiki/xv_11_laser_driver/Tutorials/Running%20the%20XV-11%20Node

when I write: rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0

a message appears [rospack] couldn't find package [xv_11_laser_driver]

UPDATE 1: I tried the command . ~/cwru-ros-pkg/setup.bash in each terminal

But it gives me an other error message: ERROR [1326667355.420881814]: Error instantiating laser object. Are you sure you have the correct port and baud rate? Error was No such file or directory

When I looked in the file dev, I could not find files that are called ttyUSB

UPDATE 2: You are right the problem was the cable. Now in the "dev" I find the file "ttyUSB0", and when I put "lsusb": Bus 006 Device 003: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC But the problem is not fully resolved, when I run rviz, a message appears:

Fixed Frame No tf data. Actual error: Fixed Frame [/map] does not exist

Note: when I put the command "roscore", he writes a few lines, then: started core service [/rosout]. After it no longer gives me the opportunity to write other commands, I have to open a new terminal, where I write: rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 . Is this normal?

When I add Laser Scan, a message appears Topic: No messages received [URL=http://imageshack.us/photo/my-images/28/capture1du.png/][IMG=http://img28.imageshack.us/img28/8113/capture1du.png][/IMG][/URL]

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Did you do all of the rosinstall steps? You were able to `. /cwru-ros-pkg/setup.bash`? And rosmake successfully built it?

Eric Perko ( 2012-01-15 07:40:01 -0500 )edit

See the update to my answer regarding not being able to open the /dev/ttyUSB device.

Eric Perko ( 2012-01-15 10:04:25 -0500 )edit

Could you add the output of `lsusb` to your question? Please unplug any extra USB devices that you can and plug the laser's serial adapter directly into the computer (no hubs) before recording the output. This will cut down on the amount of output.

Eric Perko ( 2012-01-15 10:29:27 -0500 )edit

lsusb Bus 008 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 007 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 006 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 005 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 001 Device 002: ID 04f2:b083 Chicony Electronics Co., Ltd Bus 001 Device 001: ID 1db:0002 Linux Foundation 2.0 root hub

SalutBonjour ( 2012-01-15 10:46:41 -0500 )edit

Hmm... I don't see the serial adapter anywhere in that output. The Chicony Electronics device appears to be a webcam. Have you tried plugging the laser into another computer to see if it recognizes the serial adapter?

Eric Perko ( 2012-01-15 11:13:13 -0500 )edit

is that possible to try it on another Windows PC? because when I try it, I have not detected in device manager

SalutBonjour ( 2012-01-15 11:24:18 -0500 )edit

I'm not sure about trying it on a Windows PC. You'd have to check the SparkFun documentation. Either way, you need the serial adapter to be recognized before the xv_11 driver will work. Maybe the USB cable or adapter itself are faulty? It should appear in /dev even if not connected to an xv_11...

Eric Perko ( 2012-01-15 12:32:08 -0500 )edit

thank you for your answers, see the update to my question

SalutBonjour ( 2012-01-16 10:04:22 -0500 )edit

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2 Answers

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answered 2012-01-15 07:46:35 -0500

Eric Perko

8406 ●73 ●90 ●144 http://ericperko.com/

updated 2012-01-16 11:32:21 -0500

Assuming it built successfully, you probably tried to run it in a different terminal environment. Since the cwru-ros-pkg checkout (which contains the xv_11_laser_driver) is not part of the system ROS installation, you'll need to do . ~/cwru-ros-pkg/setup.bash in each terminal you want to use the driver in.

Alternatively, you could add . ~/cwru-ros-pkg/setup.bash to your ~/.bashrc to have it automatically included in all terminals.

UPDATE 1: You have to give the driver the path to a valid serial port. If you have no /dev/ttyUSB* devices, are you certain the serial adapter is connected properly (there may also be some lights on the SparkFun adapter, but I don't recall if those only light when the adapter is communicating or also just when plugged in)? Do you have any /dev/ttyACM* devices?

Directions for hooking up the laser are here: Connecting the XV-11 Laser to USB

UPDATE 2: The root of the trouble connecting to the serial adapter was a faulty USB cable. As far as launching things in separate terminals, that is completely normal. Your fixed_frame in RVIZ should be neato_laser by default, unless you change the frame_id parameter to something else. It should be available in the drop-down menus once you subscribe to the scan topic.

Regarding the trouble receiving scans, make sure you set the topic after adding a LaserScan display to rviz. The topic defaults to /scan. If you still get that error, in a new terminal, run rostopic list and verify that /scan (or whatever you may have remapped the scan topic to) is in the list. Run rostopic hz /scan to make sure you are getting data (it should report data coming out at either 5 or 10 Hz).

If you still don't get any data, try starting your driver node with the other firmware version (see the documentation for details on that parameter. For a quick check, just try rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2 to see if that gets you good looking data in rviz.