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LIDAR

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tanyax edited this page Jun 20, 2017 · 2 revisions

  • Leave TK1 ethernet unplugged but make sure LIDAR is connected. Once booted, make sure the network is connected to "Hokuyo". Then connect the ethernet cable for PicoStation and make sure the network is connected to both "Hokuyo" and "PicoStation" (open Connection Information to ensure each setting is mapped to correct device; Hokuyo: 192.168.1.15; 255.255.255.0;192.168.1.1; 00:0E:C6:C8:B8:72).

  • To communicate with LIDAR (using ROS):

    1. roscore
    2. rosrun urg_node urg_node _ip_address:=192.168.1.11
    3. Create bridge
      1. sudo brctl addbr br0
      2. sudo brctl addif br0 eth1 (LIDAR first)
      3. sudo brctl addif br0 eth0 (pico)
      4. sudo ifconfig br0 192.168.1.2
    4. Anything that isn't being used
      1. netmask 255.255.255.0 up

  • Other notes

    • laserscan message for LIDAR
    • dist_finder.py: looking at two LIDAR measurement points and calculating how to adjust to stay on wall-following using PID; publishes error_measurement message
    • control.py: implements PID based on the error calculation from dist_finder.py
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