Difference between revisions of "Tilting Hokuyo"

Revision as of 19:06, 6 October 2009

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

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

• 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)
  1. robotis
  2. hrl_hokuyo (requires hokuyo_node - http://www.ros.org/wiki/hokuyo_node)
  3. hrl_tilting_hokuyo