Difference between revisions of "Tilting Hokuyo"
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Revision as of 18:31, 6 October 2009
Contents |
Author
Advait Jain (http://www.cc.gatech.edu/~advait)
Pictures of the Setup
- Servo Tilting the UTM
Firefly Camera, UTM and Servo (left to right)
- Alternate Configuration
Hardware
- Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66
- This gives a serial interface to control the servo: http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65
- Hokuyo UTM.
- Bracket to mount the Hokuyo on to the servo.
Code
- 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)
- robotis
- hrl_hokuyo (requires hokuyo_node - http://www.ros.org/wiki/hokuyo_node)
- hrl_tilting_hokuyo
