installing laser scanner on Turtlebot 2 for SLAM

asked 2013-04-11 21:57:50 -0600

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updated 2014-01-28 17:16:09 -0600

ngrennan
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I would like to install a Hokuyo UTM-30LX-EW laser scanner on a Turtlebot 2 and try the SLAM demo (http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM). I managed to make the sensor work with the urg_node driver (https://github.com/ros-drivers/urg_node) in groovy, but in RVIZ it is always missing the /laser frame. I suspect I need to configure TF, but I don't know how, I can't add a new node to TF in RVIZ. Can anybody help, what and how should be adjusted in order to make the laser scanner work in the SLAM demo?

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answered 2013-04-11 22:03:21 -0600

Jbot

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You have to use a TF broadcaster to make the connexion between your base_frame and your laser_frame.

Try to use : static_transform_publisher

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thanks! it works, I used "rosrun tf static_transform_publisher 0 0 0 0 0 0 /plate_middle_link /laser 1000"

ZoltanS ( 2013-04-12 00:42:32 -0600 )edit

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answered 2013-04-11 23:47:29 -0600

dornhege

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The best way would be to add that link to the URDF in the robot description. TF is then published automatically. The HECTOR guys have done that to their turtlebot (see hector_turtlebot_description ).

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answered 2014-05-11 20:51:21 -0600

MichaelGregg
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It's still a work in progress, but I have a tutorial on how to configure a Hokuyo laser scanner on a turtlebot.

Hopefully this helps. Feedback is welcome.

http://wiki.ros.org/turtlebot/Tutoria...

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installing laser scanner on Turtlebot 2 for SLAM

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