Connecting to Husky's Hokuyos

edit

When you plug in the lidars, what devices do they show up as? You will have to search for them in /dev and replace the /dev/ttyACM0 with the appropriate device id's. You could use dmesg -wH and then plug in your lidars and see what devices they show up as. I would also urge you to set the correct udev rules as mentioned in their wiki.

@Akhil Kurup thanks so much for the response! I tried using dmesg and unplugged and plugged in both lidars, but nothing shows up. Any ideas?

After you figure this out, make sure you reflect these changes in the urg_lidar.launch file.

@EricW sorry, I haven't used these lidars myself.

Here's a script that may help:

for sysdevpath in $(find /sys/bus/usb/devices/usb*/ -name dev); do
    (
        syspath="${sysdevpath%/dev}"
        devname="$(udevadm info -q name -p $syspath)"
        [[ "$devname" == "bus/"* ]] && exit
        eval "$(udevadm info -q property --export -p $syspath)"
        [[ -z "$ID_SERIAL" ]] && exit
        echo "/dev/$devname - $ID_SERIAL"
    )
done

You can just copy it in a terminal. Example output:

/dev/input/event3 - Logitech_USB_Optical_Mouse
/dev/input/mouse0 - Logitech_USB_Optical_Mouse
/dev/input/event4 - SEMICO_USB_Keyboard
/dev/input/event6 - SEMICO_USB_Keyboard
/dev/input/event5 - SEMICO_USB_Keyboard
/dev/input/event7 - SEMICO_USB_Keyboard
/dev/sdc - SanDisk_Ultra
/dev/sdc1 - SanDisk_Ultra

Thanks so much for the response @tryan! I ran it and my output is:

/dev/ttyUSB0 - Prolific_Technology_Inc._USB-Serial_Controller
/dev/input/event3 - Metadot_-_Das_Keyboard_Das_Keyboard
/dev/input/event4 - Metadot_-_Das_Keyboard_Das_Keyboard
/dev/input/mouse0 - PixArt_USB_Optical_Mouse
/dev/input/event2 - PixArt_USB_Optical_Mouse
/dev/input/js0 - Logitech_Wireless_Gamepad_F710_A71A9A88
/dev/input/event14 - Logitech_Wireless_Gamepad_F710_A71A9A88
/dev/ttyUSB1 - FTDI_Clearpath_Robotics__um7_FTA4G81I

Which looks to me like the lidars aren't connected

I was assuming you're working with a USB device. Are the sensors you're using ethernet? If so, you'll have to set the ip_address parameter for urg_node.

@tryan would you mind clarifying how to find the ip address? I found one document that said the addresses were:

| Front Hokuyo UST10LX IP     | 192.168.132.21  |
| Rear Hokuyo UST10LX IP      | 192.168.132.22  |

But if I ping those addresses I don't get any response.