use Hokuyo LIDAR with ethernet in ROS

asked 2013-03-21 01:47:26 -0600

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updated 2014-01-28 17:15:50 -0600

ngrennan
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Hi! I got a Hokuyo UTM-30LX-EW which I would like to use with my Turtlebot. The sensor has a power and an ethernet connector. I connected the power to the turtlebot, it seems to be working. I connected the ethernet cable to the wifi router. I can ping the sensors IP from the turtlebot, it seems to be up and running.

I then installed the ros_groovy_laser_drivers package. Then I wanted to try:

roslaunch hokuyo_node hokuyo_test.launch

I get the following warning and error:

[ WARN] [1363863375.680619490]: The use_rep_117 parameter has not been specified and has been automatically set to true.  This parameter will be removed in Hydromedusa.  Please see: http://ros.org/wiki/rep_117/migration
[ERROR] [1363863375.690137879]: Exception thrown while opening Hokuyo. Failed to open port: /dev/ttyACM0. No such file or directory (errno = 2). The requested port does not exist. Is the hokuyo connected? Was the port name misspelled? (in hokuyo::laser::open) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting

I wasn't very surprised, since I haven't set the ip of the sensor neither in ROS nor in Ubuntu, so probably that's why I don't have the missing port. I don't know how to set this up. The pages regarding the ros hokuyo node don't mention any IP or ethernet related topics. However, I found a page with the iri_hokuyo driver (http://mediabox.grasp.upenn.edu/roswiki/doc/api/iri_hokuyo_laser/html/), which referst to ethernet and USB ports. Unfortunately, I can't find the iri_hokuyo driver in the ubuntu/ros repositories.

Could someone tell me how should I set up the Hokuyo sensor?

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Are you aware of any differences (pros/conns) of using an ethernet interface over the usb interface? I am currently evaluating Hokuyo sensors for my application and would like to know if there is any advantage in either interface. Apologies for commenting on an old topic. Regards, Chris.

Anonymous ( 2014-07-31 17:59:45 -0600 )edit

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answered 2013-03-26 07:46:16 -0600

Chad Rockey

4541 ●63 ●79 ●98 http://chadrockey.com/

updated 2013-03-26 12:39:52 -0600

There's an actively maintained wrapper for urgwidget here: https://github.com/ros-drivers/urg_node

Eventually, this may replace hokuyo_node as the recommended hokuyo driver - even for PR2.

To install:

sudo apt-get install ros-groovy-urg-node

To run (for ethernet):

rosrun urg_node urg_node _ip_address:="192.168.0.10"

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Thanks Chad! It is working!

ZoltanS ( 2013-03-28 04:35:53 -0600 )edit

Are there any options for Fuerte? I need to use an ethernet UTM-30LX-EW and it would be convient if it worked with Fuerte.

Airuno2L ( 2013-04-23 04:10:28 -0600 )edit

I'm not aware of any options for Fuerte. You could make a fork and convert it back to rosbuild. :P

Chad Rockey ( 2013-04-23 08:06:39 -0600 )edit

Thanks for the reply. I ended up using this http://devel.iri.upc.edu/docs/labrobotica/hokuyo_laser_2d/index.html But it was quite involved

Airuno2L ( 2013-04-23 08:39:53 -0600 )edit

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answered 2013-03-21 03:52:58 -0600

Raptor
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As of 3/21/2013 there is no support for the Multiecho/Ethernet version of the Hokuyo in the hokuyo_node. It is expected to be added in the next version of ROS, which would be Hydro. Here is the issue tracker in GIT: https://github.com/ros-drivers/hokuyo_node/issues/2

They would probably be able to give you a better answer of their status, if you contact them directly.

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Thank you Raptor!

ZoltanS ( 2013-03-21 03:57:45 -0600 )edit

This was just posted also: http://ros-users.122217.n3.nabble.com/Hokuyo-UTM-30LX-EW-td4019843.html

Raptor ( 2013-03-26 03:07:02 -0600 )edit

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answered 2013-03-22 04:18:06 -0600

ZoltanS

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Finally, I got it working with the help of Hokuyo customer service. I used the urgwidget_driver, that is a wrapper for ROS (http://sourceforge.net/projects/urgwidget). According to Hokuyo, it might work with the iri_hokuyo_laser driver too in Fuerte, but in Groovy not sure. If I get their consent, I am going to post their step by step guide later here.

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Hi Zoltan, Can you please post the step-by-step guide for how you set up the Hokuyo LiDAR using the urgwidget_driver? I'm facing the same issue. Thanks!

redarean ( 2013-06-24 10:58:12 -0600 )edit

Hi redarean! I didn't get Hokuyo's consent to forward the info, but the solution Chad Rockey posted above works perfectly, try that one, or write to Hokuyo an email, they answered quickly.

ZoltanS ( 2013-06-24 20:31:02 -0600 )edit

Hi ZoltanS, Thanks for the prompt reply! I have tried Chad Rockey's solution, but keep getting the following error: "[FATAL] [1372183207.157433441]: Could not open network Hokuyo: 192.168.0.10:10940 could not open ethernet port." Did you also change any IP settings to run urg_node? Thanks again!

redarean ( 2013-06-25 08:02:13 -0600 )edit

Hi redarean, I didn't change the IP of the sensor. I got mine from someone who already used it in windows and it was already configured to 192.168.0.10. There is a windows tool to change the ip if necessary.

ZoltanS ( 2013-06-25 08:24:43 -0600 )edit

Hi ZoltanS, I finally figured it out! I needed to assign a static IP to my machine (auto eth0 iface eth0 inet static address 192.168.0.14 netmask 255.255.255.0 gateway 192.168.0.1) Thanks again for all your help! :-)

redarean ( 2013-06-25 10:09:00 -0600 )edit

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answered 2013-03-21 02:04:02 -0600

MarkyMark2012
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Zoltan,

/dev/ttyACM0 is a serial port.

Look here for details in how to set it up http://www.ros.org/wiki/hokuyo_node

Cheers

Mark

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Hi Mark, thanks, I found this out. Unfortunately, our sensor has only an ethernet port. Zoltan

ZoltanS ( 2013-03-21 02:21:02 -0600 )edit

You could consider writing yourself a bit of code to read in off the ethernet port and write out to a virtual serial port - or buy something like a raspberry pi and write a python script - i guess it depends if you can wait for the update Raptor mentioned :)

MarkyMark2012 ( 2013-03-21 04:46:54 -0600 )edit

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