From: Radu Bogdan Rusu <rusu@cs...> - 2007-02-07 18:10:50
Thanks to the excellent work done by our student Nico Blodow, I just committed a patch
which adds support for SCIP2 to the Hokuyo URG04 driver. I also cleaned the code a bit and
fixed some minor bugs.
We have tested it throughly today, but... Toby, Geoff, Brian, could you guys please test
it in your labs as well ? I know that you have Hokuyos for sure. Anyone else who wants to
give us a hand in testing the newer firmware version together with the CVS driver, is
welcome to do so. Feedback will be much appreciated.
For those not on the Hokuyo "mailing list", the newest firmware version for the URG 04LX
laser sensor adds support for detecting distances up to 5.6m, time stamp for scanning
data, constant data without repeatedly sending the same command, etc.
We haven't turned SCIP2 by default on our units, instead we switch into SCIP2 mode at
startup using an internal Hokuyo command.
Again, you need to manually modify libplayercore/device.cc for the time being (see
http://www.nabble.com/%22driver-less%22-devices-tf3163591.html for more details),
otherwise Player will segfault. I am quite sure we will fix this soon though.
| Radu Bogdan Rusu | http://rbrusu.com/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen