Connecting to a hokuyo laser separate from the robot

edit

Hi,

There is a problem with the hoyuko_node; it cannot support the ethernet devices yet. Instead use the urg_node (this supports ethernet) .. you can find it online

Install this node; after that connect the lidar via ethernet cable with your computer. You must ensure that you're on the same subnet as the LIDAR. (you can change this in the settings for your computer). For example, if you're lidar has the ip address 192.168.0.10, make sure your computer is set to something like 192.168.0.2.

the launch the node as rosrun urg_node urg_node _ip_address:="192.168.0.10"; it will start streaming data (again, if it does not, check your IP address). If you cannot find it in settings, you can change it manually in /etc/network/interfaces.

Then check using rostopic list .. you will see scans like /first /last and /most_intense.

After this, fire up rviz, set the fixed frame to /laser, add LaserScan and set its topic to /first etc..

Hope this helps

-Pranav