spin_hokuyo

This repository contains code to control a Dynamixel motor and a 2D Hokuyo LiDAR to create a 3D point cloud that can be visualized in rviz. This point cloud can then be used to create an octomap (code for this is not included in this repository).
Wiki Page: http://wiki.ros.org/spin_hokuyo

Setup Directions

1. Download this ROS Package:
   

sudo apt-get install ros-indigo-spin-hokuyo

1. In the tutorials/launch folder, update the basic_motors.launch file, go to line 12. These parameters are used to set up the dynamixel_motor package. In particular, make sure the port_name and baud_rate match your servo. Also, check that your motor id falls within the inclusive range from min_motor_id to max_motor_id.
2. In the tutorials/launch folder, update the basic_motors.launch file, go to line 12. These parameters are used to set up the dynamixel_motor package. In particular, make sure the port_name and baud_rate match your servo. Also, check that your motor id falls within the inclusive range from min_motor_id to max_motor_id.
3. Save and compile changes (if applicable).
   

roslaunch spin_hokuyo basic_motors.launch

1. In a new terminal, open the rostopics list. There should be two new commands: /tilt_controller/command and /tilt_controller/state. /command will issue new positions to the motor via Float64 (try this using rostopic pub). /state will list various pieces of information about the motor (rostopic echo).
2. If this is fully functional, kill the node and do:
   

roslaunch spin_hokuyo tilting_continuous.launch
This should cause the motor to regularly sweep from 90 to -90 and generate a point cloud. Be sure to update the dynamixel_servos_tilting.yaml for position, speed, etc.

Possible Dynamixel Errors

Is the USB properly inserted and setup for your computer?
Is the Dynamixel connected to a 12V power source via the adapter?
Is the switch on the USB adapter at the proper loaction?

Acknowledgements

Inspired by the work seen here: </br> https://github.com/gcc-robotics/3d_photobooth/blob/master/CapstoneFinalReport_VisionTeam.pdf </br>

Dynamixel Control

The class system used to control the Dynamixel motors and the basis for the servo template were based on the examples provided in Chap. 8 of “Effective Robotics Programming with ROS - Third Edition” by Anil Mahtani, Luis Sanchez, Enrique Fernandea, and Aaron Martinez. ##

pcl_assembler_client

The pcl_assembler_client is a modified form of the periodic_snapshotter.cpp which is included in the /examples folder of laser_assembler which is hosted at: https://github.com/ros-perception/laser_assembler ##

Authors

Sarah Bertussi, Paul Szenher, Shi Bai. RFAL (Robust Field Autonomy Lab), Stevens Institute of Technology.

Changelog for package spin_hokuyo

1.0.0 (2017-07-21)

• Removed dyanmixel files in favor of using dependencies as the apt version now apparently works
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Fixed packages in launch files, as well as renamed and organized
• Update README.md
• Fixed dynamixel requirement to be subpackages
• Added dynamixel_controllers to package.xml depends
• Added dynamixel_controller to package.xml depends
• Removed pcl as a dependent because it isn't a package
• Added even more build depends to package.xml
• Added required build dependencies to package.xml
• Update package.xml
• commenting update
• Acknowledgements Update
• Update README.md
• commenting update
• commenting update
• commenting update
• commenting update
• commenting updates
• Delete basic_motors.launch~
• commenting updates
• CMakeLists update
• commenting updates
• commenting update
• Update CMakeLists.txt
• Delete hokuyo_ground_filter.cpp
• Delete floor_max_z.cpp
• commenting update
• commenting update
• commenting update
• comment update
• remove backup file
• remove backup file
• adding back CMakeLists
• Temporarilly removed CMakelist.txt to satisfy failed merge
• organization
• Delete CMakeLists.txt
• moved dynamixel controllers
• moved scan_to_pcl
• Removed rviz config files and fixed tilting lidar continuous launch file
• file location update
• tutorials update
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Renamed misc files and updated launch files and CMakeLists accordingly
• Delete combine_clouds.cpp
• Update CMakeLists.txt
• Update CMakeLists.txt
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Removed extraneous launch files
• name updates
• Rename combine_clouds_subscriber.cpp to point_cloud_assembler.cpp
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Renamed hokuyo_filter to hokuyo_robot_filter to fit the naming convention of hokuyo_ground_filter
• rename for clarity
• typo
• file renames
• Delete combine_clouds.cpp
• Removed floor removal parameter from octomap
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Removed Plane Extract Ransac from tilting lidar and made minor modifications to launch and cpp files
• reset clouds
• Modified combined clouds to allow for parameters and options between time and subscription, changed launch files to allow for further customizations
• Added support for hokuyo_ground_filter
• added tolerance
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• remove ground
• Modified launch files for more universal use and added segmentation launch file and rviz config
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Modified to allow for parameter value to change from dynamixel tilting callback to timer callback
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo Conflicts: tilting_lidar_clean/launch/launch_with_octo/velodyne_hokuyo_octo_tilt_offline.launch
• plane extraction
• Disabled Voxel grid as it is uneccesary for non-assembled point clouds
• Changed name argument to path, requiring full path to be input at launch but allows for universal use across systems
• Removed rosbag node from online launch file
• Added launch files for real time octomaps using voxel grid mapping to reduce lag and missed scans
• Modified offline launch file and added secondary file that accepts point clouds in real time instead of waiting for the full assembled cloud
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• CHANGELOGs added
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Modified offline version of combined octomap generator and created rviz config file
• tutorials update
• Renamed package.xml in tutorials package to prevent ros from reading it due to broken status
• Update README.md
• Update README.md
• Update README.md
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• comment updates
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo Conflicts: tilting_lidar_clean/launch/tilting_lidar_continuous.launch
• Finalized filtered hokuyo scans and added to all launch files
• Fixed tf values for hokuyo to velodyne
• Added static tf between servo and velodyne on all launch files excluding subscriber without octo
• Moved octomap_mapping to launch_with_octo folder
• Used for offline visualization in rviz
• Changed hokuyo_filtered back to scan
• Removed ROS_STREAMs that caused heavy cpu load
• Fixed old octomap launch file
• Fixed duplicate names on relay nodes
• Fixed changes undone by Sarah's second folder confusing git
• removes robot points from scan
• Added modified launch file that creates octomap using velodyne and hokuyo data
• Renamed tilting lidar launch files with octomap to prevent naming conflicts in ros
• Commented octomap out of launch files and created folder explicitly for such files
• Added folder for launch files with octomap
• Changed servo frame to map for better accuracy when moving jackal
• depricated
• name update
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• depricated
• Changed servo fixed frame to map
• Renamed help file back to .cpp and moved to tutorial folder
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Removed note that has been integrated into readme
• Update README.md
• Edited to include link to dynamixel source code
• Marked file for deletion
• Marked file for possible deletion
• Remove outdated README from previous github repo
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Moved outdated launch files to old_launch_files folder
• Removed ROS streams used for debugging
• Removed ROS streams used for debugging
• Changed fixed frame from "camera" to "servo"
• Altered formatting to improve readibility and consistency
• Changed cloud assembler and octomap frames from "camera" to "servo"
• laser assembler update
• hokuyo node update
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Changed servo tf frame from "camera" to "servo"
• update
• direction updates
• Removed excess dynamixel driver files
• Made executable
• misplaced backup file
• Misplaced backup file
• commenting updates
• commenting update
• commenting updates
• Redundant
• Redundant
• commenting update
• Redundant
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• initialize updates
• launch files and intialize update
• Subscriber Updates
• Single Sweep Subscriber Update
• Added dynamixel_motor requirement
• tilt motor subsriber node
• Condensed to single callback function with spin() instead of while loop and spinOnce()
• combined point clouds and octomap update
• single sweep update
• Cloud Compiler Updates
• Subscribing Cloud Compilation Service
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Merge branch 'master' of https://github.com/RobustFieldAutonomyLab/spin_hokuyo
• Single Sweep with Compiled Cloud
• Added comments to wait for inits
• yaml file
• Info Stream Update
• Combining Point Clouds
• Launch file for octomap
• Smooth tilting of lidar
• Add files via upload
• Initial commit
• Contributors: Paul Szenher, Sarah Bertussi