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How to use 3D-URG on ROS

Robot Operating System (ROS) supports the 3D-URG(YVT) sensor by hokuyo3d.
Please refer to http://wiki.ros.org/kinetic/Installation for ROS installation.

The following explains how to install hokuyo3d and display data.

1. Install hokuyo3d

sudo apt-get install ros-${ROS_DISTRO}-hokuyo3d

2. launch roscore

To start a ROS node, it is first necessary to start the ROS master that manages the entire ROS.
To activate the ROS master, execute the following command

roscore

3.launch hokuyo3d

To start hokuyo3d, open a new terminal and execute the following command

• To connect to the sensor with IP address "192.168.0.10"

rosrun hokuyo3d hokuyo3d _ip:=192.168.0.10

4. launch rviz

Start RViz to review the data.

rosrun rviz rviz

5. rvizの設定

• Change "Global Options->Fixed Frame" to "/hokuyo3d".
• Add View "PointCloud2".
• Setting "PointCloud2->Topic" to "/hokuyo3d/hokuyo_cloud2"

Display at run rviz