Tilting Hokuyo

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)

• Thok0 tilt1.png
• Thok0 tilt2.png

Hardware

• Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66
• 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