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hector_slam, read sensors over Ethernet?

asked 2013-02-25 01:43:41 -0500

TJump gravatar image

I'm wondering if it is possible to read the Hokuyo and IMU data via Ethernet rather than through the USB ports?

My current desire is to have the sensors attached to a raspberry pi/other interface and transmit the sensor data via wifi to the hector_slam host computer.

I appreciate any thoughts here.

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answered 2013-02-25 02:04:35 -0500

dornhege gravatar image

Sure, you just need to get them into an ethernet interface from somewhere. You obviously can't connect the USB ports to an ethernet cable (unless the sensor provides data via ethernet like the newest Hokuyo or some Sicks).

The usual option would to use be mini-computers like a gumstix or your rapberry pi and get the laser data via USB from there to transmit it via ethernet. I'm not sure if you mean to transfer raw binary data via wifi and collect it there, which would require extra software.

The easiest would be to run ROS on the embedded system and just run the ROS drivers from there. Then you can run everything like you would normally do.

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answered 2013-02-25 19:17:01 -0500

updated 2013-02-25 19:21:05 -0500

At a summer school last year we did exactly that, having a Raspberry Pi with a Hokuyo UTM-30LX connecting via WiFi to a computer that's hector_mapping. Worked surprisingly well (of course only as one has reliable wireless connectivity). Interestingly, the hokuyo_node took 50% CPU consumption on the Pi ;)

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Asked: 2013-02-25 01:43:41 -0500

Seen: 440 times

Last updated: Feb 25 '13