Difference between revisions of "Tilting Hokuyo"

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* ROS (http://www.ros.org)
 
* ROS (http://www.ros.org)
 
*You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
 
*You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
*# robotis
+
*# [http://www.ros.org/wiki/robotis robotis]
*# hrl_hokuyo (requires hokuyo_node - http://www.ros.org/wiki/hokuyo_node)
+
*# [http://www.ros.org/wiki/hrl_hokuyo hrl_hokuyo]
*# hrl_tilting_hokuyo
+
*# [http://www.ros.org/wiki/hrl_tilting_hokuyo hrl_tilting_hokuyo]

Revision as of 19:21, 16 January 2010

Author

Advait Jain (http://www.cc.gatech.edu/~advait)

What this does

Tilting the Hokuyo using a servo and reading back the servo encoder position while getting scans from the Hokuyo allows us to generate a 3D point cloud of the world in front of the robot. We have used this 3D point cloud for object segmentation, door handle detection etc.

We first used this sensor in this paper: EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces. Advait Jain and Charles C. Kemp. Autonomous Robots, 2009. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)


Pictures of the Setup

Hardware

Image of the solidworks part for the bracket to mount the UTM on to the servo.

This is the hardware setup that we use:

Code