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Kultur Dokumente
May 12,
2015
Basics
Required Skills:
Basic Knowledge of C++
Experience with the ROS system on the Raspberry Pi
http://wiki.ros.org/
My Methods:
Raspberry Pi Model B+ running Raspbian
UST-20LX
ROS Indigo installed from Source
Hokuyo UST-20LX Sensor with Ethernet Cable Connection
(Other sensor models should work as well)
Installation
First install the following ROS packages:
hokuyo_node [Main sensor package]
http://wiki.ros.org/hokuyo_node
If you are using a new Hokuyo sensor model (ex. UST20LX), use urg_node. If you are using an older model that
has a USB interface, you will only need the hokuyo_node
package.
two arrays.
ranges[
]
//Range = Distance
intensities
[ 0.25.
]
Every
step is
[Look At
Image]
Step 0 = 0
Step 540 = 135 [Front of
A FullUST]
270 scan will have 1081
Step
1080
= 270
steps.
So the
arrays
have a size
of 1081.
ranges[0],toranges[1],
.
Measurement Steps: 1081For example,
find the distance
and
ranges[1080]
Detection Angle: 270
intensity
directly in front of the UST
Angular Resolution: 0.25 sensor, use:
float distance_front =
Other Notes
If you are using both USB and the Ethernet cable at the
same time to connect to an ip address, one will stop the
other. To avoid this, enable hotplug for both ports in
/etc/network/interfaces.
End
More information and instructions for using
urg_node and hokuyo_node can be found on their
respective wiki pages on the ROS site.
If you have any questions, feel free to contact me
at:
austinpuk@gmail.com
Varanon Austin Pukasamsombut
Field Robotics Group, Tohoku University
Prof. Yoshida Kazuya, Assoc. Prof. Keiji Nagatani
May 12,
2015