英文网页:http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode
1 安装驱动
sudo apt-get install ros-groovy-laser-drivers
2 查看是否链接
ls -l /dev/ttyACM0crw-rw---- 1 root dialout 166, 0 10月 29 16:14 /dev/ttyACM0
当前用户不能读写,什么都不能做
sudo chmod a+rw /dev/ttyACM0
改权限,当前用户可读写
3 察看是否正常运行
(1)roscore
(2)rosrun hokuyo_node hokuyo_node
(3)rostopic echo /scan
或者rviz中加入laser_scan察看
4 roslaunch 中使用
- <!--laser -->
- 25 <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
- 26 <!-- Starts up faster, but timestamps will be inaccurate. -->
- 27 <param name="calibrate_time" type="bool" value="false"/>
- 28 <!-- Set the port to connect to here -->
- 29 <param name="port" type="string" value="/dev/ttyACM0"/>
- 30 <param name="intensity" type="bool" value="false"/>
- 31 </node>