Recent changes to urg3d_node2_en

urg3d_node2_en modified by wada-f

wada-f — Thu, 12 Jan 2023 01:22:09 -0000

--- v2
+++ v3
@@ -1,9 +1,9 @@
 [Back to top](top_en)
-[English](urg3d_node2_en) | [Japanese](urg3d_node2)
+English | [Japanese](urg3d_node2)

 #How to use 3D-URG on ROS2(urg3d_node2)#

-This is how to install "[urg3d_node2](https://github.com/UrgNetworks/urg3d_node2)",  it provides ROS2 driver node for HOKUYO 3D LiDAR(SOKUIKI Sensor).
+This is how to install "[urg3d_node2](https://github.com/Hokuyo-aut/urg3d_node2)",  it provides ROS2 driver node for HOKUYO 3D LiDAR(SOKUIKI Sensor).

 The interfaces and some of the processes are based on [hokuyo3d package](https://github.com/at-wat/hokuyo3d) , which is often used in ROS1.
 [urg3d_library](https://github.com/UrgNetwork/urg3d_library)  is used for communication with LiDAR.
@@ -23,7 +23,7 @@
 ###1.Obtaining Source Code###
 ~~~
 $ cd <ros2_workspace>/src
-$ git clone --recursive https://github.com/UrgNetworks/urg3d_node2.git
+$ git clone --recursive https://github.com/Hokuyo-aut/urg3d_node2.git
 ~~~

 ###2.Installing Related Packages###
</ros2_workspace>

urg3d_node2_en modified by wada-f

wada-f — Thu, 12 Jan 2023 01:14:09 -0000

--- v1
+++ v2
@@ -1,7 +1,7 @@
 [Back to top](top_en)
 [English](urg3d_node2_en) | [Japanese](urg3d_node2)

-#How to use 3D-URG on ROS(urg3d_node2)ROS2#
+#How to use 3D-URG on ROS2(urg3d_node2)#

 This is how to install "[urg3d_node2](https://github.com/UrgNetworks/urg3d_node2)",  it provides ROS2 driver node for HOKUYO 3D LiDAR(SOKUIKI Sensor).

urg3d_node2_en modified by wada-f

wada-f — Thu, 12 Jan 2023 01:13:38 -0000

How to use 3D-URG on ROS(urg3d_node2)ROS2

This is how to install "urg3d_node2", it provides ROS2 driver node for HOKUYO 3D LiDAR(SOKUIKI Sensor).

The interfaces and some of the processes are based on hokuyo3d package , which is often used in ROS1.
urg3d_library is used for communication with LiDAR.
Life cycle control support.

Life cycle control

The operation in each state of the life cycle is as follows
- Unconfigured
startup state
- Inactive
LiDAR connection state（not delivered scanning data and diagnostic information）
- Active
LiDAR data delivery state（delivered scanning data and diagnostic information）
- Finalized
end state

1.Obtaining Source Code

$ cd <ROS2_workspace>/src
$ git clone --recursive https://github.com/UrgNetworks/urg3d_node2.git

$ rosdep update
$ rosdep install -i --from-paths urg3d_node2

3.Build

$ cd <ROS2_workspace>
$ colcon build --symlink-install

launch

Connect LiDAR
Connect via Ethernet .
Set the connection destination (parameters)
Edit config/params.yaml
Node startup
Execute the following command to automatically transition to the Active state and begin distribution of scan data.

$ ros2 launch urg3d_node2 urg_3dnode2.launch.py

If you do not want to automatically transition to the Active state, execute the following command. (After startup, it will enter the Unconfigured state.)

$ ros2 launch urg3d_node2 urg3d_node2.launch.py auto_start:=false