[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users


Hi, I want to run SLAM using URG-20LX Laser. Is there a urg_node package in ROS2?
Thanks a lot





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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users


I have done an initial port of urg_node to ROS 2 which you can find here: https://github.com/bponsler/urg_node/tree/ros2-devel

It should compile and run, but has not yet been tested with an actual sensor, so you may run into issues. You'll be able to find links to all of the necessary dependencies here: https://github.com/bponsler/ros2-support





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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users
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Thank you very much. :grinning:





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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users
In reply to this post by Dirk Thomas via ros-users


I have tried the code from https://github.com/bponsler/urg_node/tree/ros2-devel. it could work but has issue.
since I did not find the place to submit a issue on https://github.com/bponsler/urg_node. so I write here.

Error: :"urg_node" passed to lookupTransform argument target_frame does not exist.

Reproduce:
root@robot1:~# urg_node
Connected to serial device with ID: H1626063
Streaming data.

root@robot1:~# ros2 run tf2_ros tf2_echo urg_node urg_node
Failure at 1501769676.54089
Exception thrown:"urg_node" passed to lookupTransform argument target_frame does not exist.
The current list of frames is:

Failure at 1501769677.44048
Exception thrown:"urg_node" passed to lookupTransform argument target_frame does not exist.
The current list of frames is:





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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users
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Verified on turtlebot2_cartographer, Hokuyo URG 04LX_UG01 work well.
Though it has different tf_echo message compared with ROS1, the urg_node driver seems good.
 The frames should be required to publish by static_transform_publisher of tf2_ros, need modified on turtlebot_carto_2d.py





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[Discourse.ros.org] [Next Generation ROS] Is there a urg_node package in ROS2?

Dirk Thomas via ros-users
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@yechun -- thanks for reporting the issue. I have updated the urg_node project to allow issues and copied your post there (see [this](https://github.com/bponsler/urg_node/issues/1))





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