0
$\begingroup$

Rosanswers logo

I have a Jackal with a Hokuyo laser and I am wanting the hokuyo laser to publish information to /front/scan so that I am able to use the Nav stack with my jackal robot, but I am unsure how to do this. The hokuyo is properly connected to the jackal but is not publishing any data for some reason.


Originally posted by dkrivet on ROS Answers with karma: 19 on 2018-07-12

Post score: 0


Original comments

Comment by PeteBlackerThe3rd on 2018-07-12:
Which hokuyo LiDAR are you using? It is connected via USB or ethernet? What node are you running to connect with the LiDAR?

Comment by dkrivet on 2018-07-12:
I am using the Hokuyo UTM-30LX connected via USB. I am unsure of what node to use to connect to the LiDAR, that is the issue. Any help would be much appreciated, I am very new to ROS.

Comment by dkrivet on 2018-07-12:
Ideally I want to publish the LiDAR data to a topic named /front/scan so I can use the nav stack to do autonomous navigation with the jackal

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

You need to install and run the URG node (URG is the protocol the hokuyo sensors use) which will connect to the hardware and publish the laser scan messages to the ROS system. You should be able to install this easily using apt-get.

By default this node publishes laser scan messages on the /scan topic, you can change this using a remap in your launch file to any topic name you want.

Hope this helps.


Originally posted by PeteBlackerThe3rd with karma: 9529 on 2018-07-12

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by dkrivet on 2018-07-13:
Thank you for the help. I have done this and got the laser to publish data correctly, however it is not publishing to my desired frame. I have actually used the hokuyo_node as the jackal is running ROS indigo and I think the hokuyo_node adds messages to the "laser" frame by default

Comment by dkrivet on 2018-07-13:
However, I want to publish the the "front_laser" frame. How would I go about doing this? Thank you very much

Comment by PeteBlackerThe3rd on 2018-07-13:
You can use the parameter frame_id to set the frame laser scans are published in. The documentation isn't that clear on this unfortunately.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.