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2015-10-12 12:30:57 -0500 commented answer launching laser_scan_assembler with periodic snapshotter

Hi jcgarciaca, Can you run "rosbag info" on your bagfile and update the question? It could be an issue of the pointcloud2 being expected instead of pointcloud. Thanks!

2015-10-12 12:29:53 -0500 answered a question launching laser_scan_assembler with periodic snapshotter

Hi jcgarciaca, Can you run "rosbag info" on your bagfile and update the question? It could be an issue of the pointcloud2 being expected instead of pointcloud. Thanks!

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2014-02-14 06:08:00 -0500 commented answer 2 Laser Mapping

Alternately you could use point_cloud_converter to convert to pointcloud2 format Check this out: http://answers.ros.org/question/9909/is-there-a-laser-assembler-that-produces-pointcloud2/?answer=16138#post-id-16138

2014-02-14 05:59:51 -0500 answered a question launching laser_scan_assembler with periodic snapshotter

Start roscore and rosbag (I'm assuming that you are playing a pre-recorded bagfile)

Then use the laser_scan_assembler.launch file below. Of course, you can change the time buffer and maximum number of scans. I use the odom frame, but you can use map, if you prefer that!

<launch>
    <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
    <param name="tf_cache_time_secs" type="double" value="475.0" />
    <param name="max_scans" type="int" value="4000000" />
    <param name="ignore_laser_skew" type="bool" value="true" />
    <param name="fixed_frame" type="string" value="/odom" />
  </node>
</launch>

Follow this with periodic snapshotter (rosrun periodic_snapshotter periodic_snapshotter) I use the periodic_snapshotter.cpp file below. You can change the time buffer for the snapshotter in the timerCallback

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#include <cstdio>
#include <ros/ros.h>

// Services
#include "laser_assembler/AssembleScans.h"

// Messages
#include "sensor_msgs/PointCloud.h"


/***
 * This a simple test app that requests a point cloud from the
 * point_cloud_assembler every 80 seconds, and then publishes the
 * resulting data
 */
namespace laser_assembler
{

class PeriodicSnapshotter
{

public:

  PeriodicSnapshotter()
  {
    // Create a publisher for the clouds that we assemble
    pub_ = n_.advertise<sensor_msgs::PointCloud> ("assembled_cloud", 1);

    // Create the service client for calling the assembler
    client_ = n_.serviceClient<AssembleScans>("assemble_scans");

    // Start the timer that will trigger the processing loop (timerCallback)
    timer_ = n_.createTimer(ros::Duration(80,0), &PeriodicSnapshotter::timerCallback, this);

    // Need to track if we've called the timerCallback at least once
    first_time_ = true;
  }

  void timerCallback(const ros::TimerEvent& e)
  {

    // We don't want to build a cloud the first callback, since we we
    //   don't have a start and end time yet
    if (first_time_)
    {
      first_time_ = false;
      return;
    }

    // Populate our service request based on our timer callback times
    AssembleScans srv;
    srv.request.begin ...
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2014-02-05 04:51:06 -0500 commented answer Hokuyo UTM-30LX-EW not detected in Ubuntu or PC

Have you tried this: http://sourceforge.net/p/urgnetwork/wiki/UTM-30-EW%20on%20ROS/ ? It worked pretty well for me :-)

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2013-06-25 10:09:00 -0500 commented answer use Hokuyo LIDAR with ethernet in ROS

Hi ZoltanS, I finally figured it out! I needed to assign a static IP to my machine (auto eth0 iface eth0 inet static address 192.168.0.14 netmask 255.255.255.0 gateway 192.168.0.1) Thanks again for all your help! :-)

2013-06-25 08:02:13 -0500 commented answer use Hokuyo LIDAR with ethernet in ROS

Hi ZoltanS, Thanks for the prompt reply! I have tried Chad Rockey's solution, but keep getting the following error: "[FATAL] [1372183207.157433441]: Could not open network Hokuyo: 192.168.0.10:10940 could not open ethernet port." Did you also change any IP settings to run urg_node? Thanks again!

2013-06-24 10:58:12 -0500 commented answer use Hokuyo LIDAR with ethernet in ROS

Hi Zoltan, Can you please post the step-by-step guide for how you set up the Hokuyo LiDAR using the urgwidget_driver? I'm facing the same issue. Thanks!

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2013-05-15 13:07:13 -0500 answered a question Hokuyo UTM-30LX-EW not detected in Ubuntu or PC

Hi,

I heard back from the manufacturer's technical support just now and his troubleshooting tip resolved the problem. Apparently, it was an IP mismatch with my corporate network computer all along! I am pasting his reply below so that others may benefit from this.

Moderators, please close this question (I do not have sufficient reputation to do so)

Thanks!


From: Sup PREMVUTI (Kirinson, Inc.) [] Sent: Wednesday, May 15, 2013 3:49 PM Subject: RE: Cannot connect to the Hokuyo UTM-30LX-EW

Hi,

Please try the following steps.

(1) Use a Windows PC or Laptop and use its Ethernet port directly. (2) Set the property of your Ethernet port TCP/IP4 to the following. (Do not select ‘Obtain an IP address automatically’)

   IP Address 192.168.0.15
   Subnet Mask 255.255.255.0
   Default Gateway 192.168.0.1

The laser scanner and the PC have to be on the same net, e.g. 192.168.0.XX. For this step, we put the PC on 192.168.0.15. The default IP address of the laser scanner is 192.168.0.10 and port number is 10940.

(3) Connect the laser scanner to the Ethernet port of the PC.

(4) Run URG Benri.

Let me know if this helps.

Thanks,

Sup


2013-05-15 10:04:35 -0500 asked a question Hokuyo UTM-30LX-EW not detected in Ubuntu or PC

Hi,

I am a newbie user for ROS. I am trying to run the Hokuyo UTM-30LX-EW LiDAR (with ethernet connection) using urg_node on Ubuntu 12.04 with ROS-Groovy.

When I run the following commands (in separate terminal windows)

roscore
rosrun urg_node urg_node _ip_address:="192.168.0.10"

I get the following error:

[FATAL] [1368644464.256278611]: Could not open network Hokuyo:
192.168.0.10:10940
could not open ethernet port.

Sadly, I also cannot get the tools issued by the manufacturer to detect the LiDAR when I try to connect in a Windows environment.

For both these situations, the laser scanner is switched on and connected when this happens. Also, the LEDs are lit steady after blinking for a few seconds on connection.

Can someone please provide me suggestions about what might be going on? Our lab spent a lot of money buying this equipment and I would like that to be put to good use!

Thanks in advance :-)