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How to run more than two UST-10LX or UST-20LX in ROS using urg node?

asked 2015-02-21 06:26:39 -0600

ums_007 gravatar image

I am having trouble in running two UST-10LX in same laptop since it uses an Ethernet interface.

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answered 2015-02-21 07:30:54 -0600

rechie26 gravatar image

updated 2015-02-21 09:27:07 -0600

gvdhoorn gravatar image

You will have to change the IP settings of one of your UST. After that use a router to connect Lidars with your PC. Then change IPV4 settings to manual and IP address to (as told by hokuyo). After all this you will be able to run both the lidars individually using the command rosrun urg_node urg_node _ip_address:="" for the lidar with default settings and _ip_address:="192.168.0.x" for new settings.

For launching both these together you can make a launch file. You can use:

  <node ns="lidar1" pkg="urg_node" type="urg_node" name="lidar1" >
    <param name="ip_address" value=""/>
  <node ns="lidar2" pkg="urg_node" type="urg_node" name="lidar2" >
    <param name="ip_address" value=""/>

It will work for sure. Cheers!

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afaik this does get both running, but the default ros topic for urg_node is "scan." Doesn't this mean that one of the scans will always override the other?

fozzy-b gravatar image fozzy-b  ( 2020-02-13 13:09:54 -0600 )edit

That's why we have different namespace arguments. It will publish topics as lidar1/scan and lidar2/scan.

rechie26 gravatar image rechie26  ( 2020-02-13 13:16:44 -0600 )edit

Goodness. I should try reading attentively.

fozzy-b gravatar image fozzy-b  ( 2020-02-13 13:22:09 -0600 )edit

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Asked: 2015-02-21 06:26:39 -0600

Seen: 2,530 times

Last updated: Feb 21 '15