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I've got two Hokuyo laser scanners, both of which work individually when I run the hokuyo_node and change to the appropriate port. However, I'd like to have them both running at the same time, publishing to two different topics. How do I go about this?
You need to remap topic name on at least one of the nodes, and give deffirent names to them. Easiest way is use launch file:
<launch>
<node name="hokuyo0" pkg="hokuyo_node" type="hokuyo_node">
<param name="port" type="string" value="/dev/ttyACM0" />
<remap from="scan" to="scan0" />
</node>
<node name="hokuyo1" pkg="hokuyo_node" type="hokuyo_node">
<param name="port" type="string" value="/dev/ttyACM1" />
<remap from="scan" to="scan1" />
</node>
</launch>
Just run both an remap the output topic. You might need to set the frame id too.
Here is an excerpt from the launch file that we use:
<rosparam command="load" file="$(find matilda_bringup)/config/sensors.yaml" />
<!-- Base Laser -->
<group unless="$(arg disable_base_laser)" >
<node pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node">
<remap from="scan" to="base_scan" />
<param name="frame_id" type="string" value="base_laser_link" />
<param name="min_ang" type="double" value="-2.35619449019234492883" />
<param name="max_ang" type="double" value="2.35619449019234492883" />
<param name="skip" type="int" value="0" />
<param name="intensity" value="false" />
</node>
</group>
<!-- Vertical Laser -->
<group unless="$(arg disable_vertical_laser)" >
<node pkg="hokuyo_node" type="hokuyo_node" name="vertical_hokuyo_node">
<remap from="scan" to="vertical_scan" />
<param name="frame_id" type="string" value="vertical_laser_link" />
<param name="min_ang" type="double" value="-2.09439510239319549227" />
<param name="max_ang" type="double" value="2.09439510239319549227" />
<param name="skip" type="int" value="0" />
<param name="intensity" value="false" />
</node>
</group>
The sensors.yaml defines the ports to use, you could also symlink those if you like:
base_hokuyo_node/port: /dev/sensors/hokuyo_H0904092
vertical_hokuyo_node/port: /dev/sensors/hokuyo_H0507257
To get the names with serials for the Hokuyos you can use the following udev rules (using the getID node from the hokuyo driver package):
# Hokuyos
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ATTRS{manufacturer}=="Hokuyo Data Flex for USB", ATTRS{product}=="URG-Series USB Driver", MODE="0666", GROUP="dialout", PROGRAM=="/etc/ros/run.sh hokuyo_node getID %N q", SYMLINK+="sensors/hokuyo_%c"
The run script needs to be available system-wide. It just sources setup.sh and rosruns the program:
#!/bin/sh
. /etc/ros/setup.sh
rosrun $@
Asked: 2012-11-22 05:37:48 -0500
Seen: 3,194 times
Last updated: Nov 22 '12
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