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Is it possible to use the hokuyo laser, without the special head? [closed]

asked 2014-08-12 08:34:54 -0600

Pingu gravatar image

Hi there,

I am pretty new to all of ROS and robotics, but I was assigned to find out the answer to the question whether it is possible to use a separate hokuyo laser on a standard NAO.

The desirable setup would be: A standard NAO, connected to the PC via NAOqi. An external Hokuyo Laser device, connected to the NAO via USB. ROS is running on the PC.

Now, would it be possible to use the ALLaser Module in ROS with useful output? Or is the special head needed, somehow?

I hope that the problem is clear (although I doubt it) and help could be given. Even hints, on where to find out more about the problem (or improve my post) are appreciated.

Kind regards, Pingu

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by tfoote
close date 2014-10-22 03:30:41.680236

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For reference, this appears to be the laser head: https://community.aldebaran.com/doc/1... .

ahendrix gravatar imageahendrix ( 2014-08-12 11:18:40 -0600 )edit

I'd suggest asking on the Nao forums.

tfoote gravatar imagetfoote ( 2014-10-22 03:30:32 -0600 )edit

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answered 2014-08-12 11:42:30 -0600

pwong gravatar image

updated 2014-08-12 11:43:17 -0600

Hi Pingu,

Welcome to ROS!

I hope I can provide you some hints since I've never used the NAO or the ALLaser Module before. If you just want a hokuyo lidar to work with a computer, take a look at these pages.

http://wiki.ros.org/hokuyo_node http://wiki.ros.org/urg_node

So this setup just assumes:

Lidar ---(USB)---> Computer(ROS).

What you want is this?

Lidar ---(USB)---> Nao ---(USB interfaced with the NAOqi)---> Computer(ROS).

If you want to plug the Lidar directly into the NAO robot, you have to figure out how to extract data from the lidar and to the NAO. Then figure out how NAOqi interfaces with ROS. If the NAO is running like a ROS node, and it publishes/subscribes normally, then check to make sure you're getting data from the lidar publishes to ROS. If you do get lidar data, then I would think you just need to update your tf(transforms of the NAO) to add where the LIDAR is. Then you can go on to writing your software application on top.

As I was writing the post, your desired configuration doesn't look plausible, but I'm sure you can find other configurations which might work.

For example:

Nao ---(USB)--> 
                          computer
Lidar---(USB)--->

Best of luck, hopefully you found this helpful!

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The link I posted suggests that the Nao supports attaching the lidar directly and passing that information to another computer. This question should really be answered by someone else with direct experience with the Nao and the laser head.

ahendrix gravatar imageahendrix ( 2014-08-12 11:52:40 -0600 )edit

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Asked: 2014-08-12 08:34:54 -0600

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Last updated: Aug 12 '14