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spin_hokuyo

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spinning Hokuyo form 3D point cloud

// repository documentation

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# 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

![](https://thumbs.gfycat.com/OilyInsecureBass-size_restricted.gif "Octomap generated with spinning hokuyo")

# Setup Directions
1. Download this ROS Package: 
```sudo apt-get install ros-indigo-spin-hokuyo``` 
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. 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. 
4. Save and compile changes (if applicable). 
```roslaunch spin_hokuyo basic_motors.launch``` 
5. 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).
6. 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: 
https://github.com/gcc-robotics/3d_photobooth/blob/master/CapstoneFinalReport_VisionTeam.pdf

## 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)](http://personal.stevens.edu/~benglot/index.html), Stevens Institute of Technology.

spin_hokuyo

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