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Hi Pingu,

Welcome to ROS!

I hope I can provide you some hints since I've never used the NAO or the ALLaser Module before. If you just want a hokuyo lidar to work with a computer, take a look at these pages.

http://wiki.ros.org/hokuyo_node http://wiki.ros.org/urg_node

So this setup just assumes Lidar ---(USB)---> Computer(ROS).

What you want is this?

Lidar ---(USB)---> Nao ---(USB interfaced with the NAOqi)---> Computer(ROS).

If you want to plug the Lidar directly into the NAO robot, you have to figure out how to extract data from the lidar and to the NAO. Then figure out how NAOqi interfaces with ROS. If the NAO is running like a ROS node, and it publishes/subscribes normally, then check to make sure you're getting data from the lidar publishes to ROS. If you do get lidar data, then I would think you just need to update your tf(transforms of the NAO) to add where the LIDAR is. Then you can go on to writing your software application on top.

As I was writing the post, your desired configuration doesn't look plausible, but I'm sure you can find other configurations which might work.

For example: Nao ---(USB)--> computer Lidar---(USB)--->

Best of luck, hopefully you found this helpful!

Hi Pingu,

Welcome to ROS!

I hope I can provide you some hints since I've never used the NAO or the ALLaser Module before. If you just want a hokuyo lidar to work with a computer, take a look at these pages.

http://wiki.ros.org/hokuyo_node http://wiki.ros.org/urg_node

So this setup just ~~assumes~~ assumes:

Lidar ---(USB)---> Computer(ROS).Computer(ROS).

What you want is this?

Lidar ---(USB)---> Nao ---(USB interfaced with the NAOqi)---> Computer(ROS).Computer(ROS).

If you want to plug the Lidar directly into the NAO robot, you have to figure out how to extract data from the lidar and to the NAO. Then figure out how NAOqi interfaces with ROS. If the NAO is running like a ROS node, and it publishes/subscribes normally, then check to make sure you're getting data from the lidar publishes to ROS. If you do get lidar data, then I would think you just need to update your tf(transforms of the NAO) to add where the LIDAR is. Then you can go on to writing your software application on top.

As I was writing the post, your desired configuration doesn't look plausible, but I'm sure you can find other configurations which might work.

For ~~example:~~ example:

Nao ---(USB)--> computer Lidar---(USB)---> Lidar---(USB)--->

Best of luck, hopefully you found this helpful!