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Hi,

I bought a Hokuyo URG-04LX-UG01 lidar today, but I can't use it with ROS kinetic.

Untill now hokuyo_node wiki still doesn't have a kinetic release. The newest release is for jade.

So I tried to install hokuyo_node from source. Firstly I cloned hokuyo_node source from github to my local directory ~/catkin_ws/src. Then I did catkin_make. The result is as follow:

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "driver_base" with
any of the following names:

driver_baseConfig.cmake
driver_base-config.cmake

Add the installation prefix of "driver_base" to CMAKE_PREFIX_PATH or set
"driver_base_DIR" to a directory containing one of the above files.  If
"driver_base" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
hokuyo_node/CMakeLists.txt:13 (find_package)


-- Could not find the required component 'driver_base'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "driver_base" with
any of the following names:

driver_baseConfig.cmake
driver_base-config.cmake

Add the installation prefix of "driver_base" to CMAKE_PREFIX_PATH or set
"driver_base_DIR" to a directory containing one of the above files.  If
"driver_base" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
hokuyo_node/CMakeLists.txt:13 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/shay/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/shay/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

It seems that I need the driver_base package. But kinetic doesn't have a driver_base. As driver_base had been deprecated.

Is there anyone uses hokuyo lidar on Kinetic? Any help would be appreciated, Thx. :)


EDIT

Thanks to @130s, I tried urg_node just now. urg_node also hasn't been released to Kinetic, So I tried to intall it from source. I cloned urg_node source from github to my local directory ~/catkin_ws/src. Then I did catkin_make. The result is as follow:

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "urg_c" with any of
  the following names:

    urg_cConfig.cmake
    urg_c-config.cmake

  Add the installation prefix of "urg_c" to CMAKE_PREFIX_PATH or set
  "urg_c_DIR" to a directory containing one of the above files.  If "urg_c"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  urg_node/CMakeLists.txt:7 (find_package)


-- Could not find the required component 'urg_c'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "urg_c" with any of
  the following names:

    urg_cConfig.cmake
    urg_c-config.cmake

  Add the installation prefix of "urg_c" to CMAKE_PREFIX_PATH or set
  "urg_c_DIR" to a directory containing one of the above files.  If "urg_c"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  urg_node/CMakeLists.txt:7 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/shay/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/shay/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

So I need the package urg_c, but urg_c also hasn't been released to Kinetic.

What should I do, go back to jade?(~_~)


Originally posted by Shay on ROS Answers with karma: 763 on 2016-09-07

Post score: 3


Original comments

Comment by KevinNickels on 2017-05-11:
I also had to clone and build laser_proc and urg_c packages

cd ~/catkin_ws/src
git clone https://github.com/ros-perception/laser_proc.git
git clone https://github.com/ros-dirvers/urg_c.git
cd ..
catkin_make

Comment by kasptom on 2019-05-22:
@KevinNickels, there is a typo in the repo clone link, should be:

git clone https://github.com/ros-drivers/urg_c.git

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2 Answers 2

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You will need to install and compile driver_base from sources too

git clone https://github.com/ros-drivers/driver_common.git 

First compile driver_common and then you should be able to compile hokuyo_node


Originally posted by JorgeArino with karma: 96 on 2016-09-08

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by Shay on 2016-09-08:
Yeah, I make it! Thanks a lot.

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These days the hokuyo_node wiki page recommends urg_node package. And it's still true that urg_node hasn't been released into Kinetic, for which I requested.

One advantage despite it's the probably more maintained package with more updates, urg_node is BSD while hokuyo_node is LGPL.


Originally posted by 130s with karma: 10937 on 2016-09-08

This answer was NOT ACCEPTED on the original site

Post score: 1


Original comments

Comment by Shay on 2016-09-08:
Thanks, I tried urg_node and edit and question. It seems that I have to go back to jade temporarily and wait for urg_node and hokuyo_node to release to Kinetic.

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