Ubuntu 16.04上使用HOKUYO UST"/>
Ubuntu 16.04上使用HOKUYO UST
Pre:
硬件环境:NVIDIA TX2
激光雷达:HOKUYO UST-10LX
操作系统:Ubuntu 16.04 、ROS Kinetic(次生操作系统)
通讯方式:以太网
介绍:
北洋HOKUYO UST-10LX介绍:
The UST-10LX scanning laser rangefinder is a small, accurate, high-speed device for obstacle detection and localization of autonomous robots and automated material handling systems. This model uses Ethernet interface for communication and can obtain measurement data in a wide field of view up to a distance of 10 meters with millimeter resolution. Due to its low power consumption, this scanner is able to be used on battery-operated platforms.
HOKUYO UST-10LX SPECS
如何链接?
激光的初始化IP为:192.168.0.10 端口号:10940
设置TX2的以太网连接:
一:点击屏幕右上角“网络连接 --> Edit Connections --> 选择Ethernet --> 点击Add --> 选择Ethernet”
二: 输入 “Connection name”,也可以选择默认,然后选择Tab页面 “IPV4 Settings”,选择“Manual”方式。
三:手动添加Address,点击“Add”按钮,分别输入如下三项,然后点击保存。
Address:192.168.0.20
Netmask:255.255.255.0
Gateway:192.168.0.0
注:此处的Address只要不和激光雷达的IP相同就OK
四:将HOKUYO激光雷达供电(12V-24V),将RJ45接口和TX2开发板的网口连接,测试效果。
证明TX2和HOKUYO激光雷达网络已通。
在ROS中使用,并在RVIZ显示激光点数据
启动master
roscore
启动激光node,指定到激光的ip
rosrun urg_node urg_node _ip_address:=192.168.0.10
启动rviz显示
rosrun rviz rviz
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Ubuntu 16.04上使用HOKUYO UST
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