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Only released in EOL distros:  

Corobot: PhidgetMotor | PhidgetServo | corobot_arm | corobot_camera | corobot_gps | corobot_hokuyo | corobot_joystick | corobot_map_to_jpeg | corobot_msgs | corobot_pantilt | corobot_phidgetIK | corobot_srvs | corobot_ssc32 | corobot_state_tf | corobot_teleop

Package Summary

This corobot_hokuyo package is just an integration of the package hokuyo_node from Brian P. Gerkey, Jeremy Leibs and Blaise Gassend into the Corobot stack to make it easier for CoroWare's client to setup their robot. A ROS node to provide access to SCIP 2.0-compliant Hokuyo laser range finders (including 04LX).

Supported Hardware

This driver should work with any SCIP 2.0-compliant laser range-finders.

Parameter Ranges

The UTM-30LX laser can report corrupt data and even crash if settings with an excessive data rate are requested. The following settings are known to work:

Intensity mode off:

Intensity mode on:

Allow Unsafe Settings Option

On the UTM-30LX, unless the ~allow_unsafe_settings option is selected, the hokuyo_node will limit the angular range to values that are known to work. The angular range limit depends on the firmware version, and is proportional to the cluster parameter.

Firmware version

Maximum angular range / cluster (deg)

hokuyo_node version

1.16.01(16/Nov./2009)

190

> 1.1.1

1.16.02(19/Jan./2010)

95

> 1.0.3

Other

95

> 1.0.3

ROS API

corobot_hokuyo

corobot_hokuyo is a driver for SCIP 2.0 compliant Hokuyo laser range-finders. This driver was designed primarily for the Hokuyo UTM-30LX, also known as the Hokuyo Top-URG. The driver has been extended to support some SCIP1.0 compliant range-finders such as the URG-04LX. Hokuyo scans are taken in a counter-clockwise direction. Angles are measured counter clockwise with 0 pointing directly forward.

Published Topics

scan (sensor_msgs/LaserScan) diagnostics (diagnostic_msgs/DiagnosticStatus)

Services

~self_test (diagnostic_msgs/SelfTest)

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~min_ang (double, default: -π/2) ~max_ang (double, default: π/2) ~intensity (bool, default: false) ~cluster (int, default: 1) ~skip (int, default: 0) ~port (string, default: /dev/ttyACM0) ~calibrate_time (bool, default: true) ~frame_id (string, default: laser) ~time_offset (double, default: 0.0) ~allow_unsafe_settings (bool, default: False)
Read-only parameters
~max_ang_limit (double) ~max_ang_limit (double) ~min_range (double) ~max_range (double)

Parameter interactions

Some parameter settings can cause problems, usually due to speed limitations of the laser's serial interface. For example:


2019-09-14 12:37