Replace UST10 URDF with URDF from jackal_description #96
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tonybaltovski
requested changes
Feb 3, 2022
tonybaltovski
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Feb 3, 2022
carlos-m159
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Jul 28, 2022
* Add support for URG-04LX in SCIP 1.1 mode The urg_node does not support SCIP 1.1. The Hokuyo URG-04LX supports both SCIP 1.1 and SCIP 2.0, but needs to be switched to SCIP 2.0 at every startup in its default configuration. For this purpose the function URGCWrapper::setToSCIP2() was added. A URG-04LX in SCIP 1.1 mode used to lead to an exception being thrown in URGCwrapper::initialize. Now, before throwing the exception an attempt to switch the sensor to SCIP 2.0 is made. * Changes. * 0.1.11 * Fixed linter errors. * Add Travis config. * synchronize system clock to hardware time Remove jitter from the system clock by synchronizing it to the change in hardware time stamps. This does not synchrnoize it in an absolute sense (i.e., doesn't remove system latench). However, coupled with calibrating system latency, this results in a stable, accurate clock. * synchronize_time: reset when clock is warped If either the hardware clock or system clock warp, reset the EMA to prevent incorrect clock values from being used. Detect the warp by putting a limit on the absolute error between the synchronized clock and the system clock. When a warp is detected, reset the EMA to force the clocks to resynchronize. Use the system clock until the EMA has stabalized again. * fix(updateStatus): Update status on diagnostics update Otherwise the diagnostics information does not really reflect the device status. * Updated TravisCI config. * Updated roslint to only check files in this repo. * Fix path typo. * Changes. * 0.1.12 * Revert "fix(updateStatus): Update status on diagnostics update" * Changes. * 0.1.13 * Removed trailing whitespace. * Bumped CMake version. * Changes. * 0.1.14 * Function setSkip() set as void This function as no return type causing undefined behavior. This function has been declared as void. * Changes. * 0.1.15 * Diagnostic Analyzers (ros-drivers#93) * Added diagnostic analyzers to organize robot_monitor * Update Change Log * Moved addDiagnostics call to the diagnostics thread * Changed parameter prefix from "/" to "" * Removed edits to the CHANGELOG * roslint fixes. * Changes. * 0.1.16 * Add URDF and STL of Hokuyo UST-10LX * Add collision to URDF * Update UST10 (ros-drivers#96) * Fix typo for package name * Replace UST10 URDF with one used in CPR robots ; remove lx suffix from UST10 files * Fix typo in package name * Add installation of urdf, meshes, and launch directories to CMakeLists.txt * Changes. * 0.1.17 * Install Python helper script using catkin_install_python() so the correct Python version is selected automatically; ensure socket sends message as byte object for Python3, while ensuring backwards compatability with Python2. * RST-484 Adding range offset parameter * Removing limits on range offset * Changelogs * 0.1.11 * Tailor: Creating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.2.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.3.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.4.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.5.0 * Tailor: Updating Jenkinsfile * Removed travis.yml Co-authored-by: Benjamin Scholz <2scholz@informatik.uni-hamburg.de> Co-authored-by: Tony Baltovski <tony.baltovski@gmail.com> Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> Co-authored-by: C. Andy Martin <cam@badger-technologies.com> Co-authored-by: Tony Baltovski <tony@baltovski.ca> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: bostoncleek <bocl8874@colorado.edu> Co-authored-by: luis-camero <88782189+luis-camero@users.noreply.github.com> Co-authored-by: Joey Yang <jyang@clearpathrobotics.com> Co-authored-by: Tom Moore <ayrton04@gmail.com> Co-authored-by: locus-services <33065330+locus-services@users.noreply.github.com> Co-authored-by: Paul Bovbel <paul@bovbel.com>
carlos-m159
added a commit
to locusrobotics/urg_node
that referenced
this pull request
Jul 29, 2022
* Add support for URG-04LX in SCIP 1.1 mode The urg_node does not support SCIP 1.1. The Hokuyo URG-04LX supports both SCIP 1.1 and SCIP 2.0, but needs to be switched to SCIP 2.0 at every startup in its default configuration. For this purpose the function URGCWrapper::setToSCIP2() was added. A URG-04LX in SCIP 1.1 mode used to lead to an exception being thrown in URGCwrapper::initialize. Now, before throwing the exception an attempt to switch the sensor to SCIP 2.0 is made. * Changes. * 0.1.11 * Fixed linter errors. * Add Travis config. * synchronize system clock to hardware time Remove jitter from the system clock by synchronizing it to the change in hardware time stamps. This does not synchrnoize it in an absolute sense (i.e., doesn't remove system latench). However, coupled with calibrating system latency, this results in a stable, accurate clock. * synchronize_time: reset when clock is warped If either the hardware clock or system clock warp, reset the EMA to prevent incorrect clock values from being used. Detect the warp by putting a limit on the absolute error between the synchronized clock and the system clock. When a warp is detected, reset the EMA to force the clocks to resynchronize. Use the system clock until the EMA has stabalized again. * fix(updateStatus): Update status on diagnostics update Otherwise the diagnostics information does not really reflect the device status. * Updated TravisCI config. * Updated roslint to only check files in this repo. * Fix path typo. * Changes. * 0.1.12 * Revert "fix(updateStatus): Update status on diagnostics update" * Changes. * 0.1.13 * Removed trailing whitespace. * Bumped CMake version. * Changes. * 0.1.14 * Function setSkip() set as void This function as no return type causing undefined behavior. This function has been declared as void. * Changes. * 0.1.15 * Diagnostic Analyzers (ros-drivers#93) * Added diagnostic analyzers to organize robot_monitor * Update Change Log * Moved addDiagnostics call to the diagnostics thread * Changed parameter prefix from "/" to "" * Removed edits to the CHANGELOG * roslint fixes. * Changes. * 0.1.16 * Add URDF and STL of Hokuyo UST-10LX * Add collision to URDF * Update UST10 (ros-drivers#96) * Fix typo for package name * Replace UST10 URDF with one used in CPR robots ; remove lx suffix from UST10 files * Fix typo in package name * Add installation of urdf, meshes, and launch directories to CMakeLists.txt * Changes. * 0.1.17 * Install Python helper script using catkin_install_python() so the correct Python version is selected automatically; ensure socket sends message as byte object for Python3, while ensuring backwards compatability with Python2. * RST-484 Adding range offset parameter * Removing limits on range offset * Changelogs * Tailor: Creating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.2.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.3.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.4.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.5.0 * Tailor: Updating Jenkinsfile * Removed travis.yml Co-authored-by: Benjamin Scholz <2scholz@informatik.uni-hamburg.de> Co-authored-by: Tony Baltovski <tony.baltovski@gmail.com> Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> Co-authored-by: C. Andy Martin <cam@badger-technologies.com> Co-authored-by: Tony Baltovski <tony@baltovski.ca> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: bostoncleek <bocl8874@colorado.edu> Co-authored-by: luis-camero <88782189+luis-camero@users.noreply.github.com> Co-authored-by: Joey Yang <jyang@clearpathrobotics.com> Co-authored-by: Tom Moore <ayrton04@gmail.com> Co-authored-by: locus-services <33065330+locus-services@users.noreply.github.com> Co-authored-by: Paul Bovbel <paul@bovbel.com>
carlos-m159
added a commit
to locusrobotics/urg_node
that referenced
this pull request
Aug 3, 2022
…nner error codes (#3) * Add support for URG-04LX in SCIP 1.1 mode The urg_node does not support SCIP 1.1. The Hokuyo URG-04LX supports both SCIP 1.1 and SCIP 2.0, but needs to be switched to SCIP 2.0 at every startup in its default configuration. For this purpose the function URGCWrapper::setToSCIP2() was added. A URG-04LX in SCIP 1.1 mode used to lead to an exception being thrown in URGCwrapper::initialize. Now, before throwing the exception an attempt to switch the sensor to SCIP 2.0 is made. * Changes. * 0.1.11 * Fixed linter errors. * Add Travis config. * synchronize system clock to hardware time Remove jitter from the system clock by synchronizing it to the change in hardware time stamps. This does not synchrnoize it in an absolute sense (i.e., doesn't remove system latench). However, coupled with calibrating system latency, this results in a stable, accurate clock. * synchronize_time: reset when clock is warped If either the hardware clock or system clock warp, reset the EMA to prevent incorrect clock values from being used. Detect the warp by putting a limit on the absolute error between the synchronized clock and the system clock. When a warp is detected, reset the EMA to force the clocks to resynchronize. Use the system clock until the EMA has stabalized again. * fix(updateStatus): Update status on diagnostics update Otherwise the diagnostics information does not really reflect the device status. * Updated TravisCI config. * Updated roslint to only check files in this repo. * Fix path typo. * Changes. * 0.1.12 * Revert "fix(updateStatus): Update status on diagnostics update" * Changes. * 0.1.13 * Removed trailing whitespace. * Bumped CMake version. * Changes. * 0.1.14 * Function setSkip() set as void This function as no return type causing undefined behavior. This function has been declared as void. * Changes. * 0.1.15 * Diagnostic Analyzers (ros-drivers#93) * Added diagnostic analyzers to organize robot_monitor * Update Change Log * Moved addDiagnostics call to the diagnostics thread * Changed parameter prefix from "/" to "" * Removed edits to the CHANGELOG * roslint fixes. * Changes. * 0.1.16 * Add URDF and STL of Hokuyo UST-10LX * Add collision to URDF * Update UST10 (ros-drivers#96) * Fix typo for package name * Replace UST10 URDF with one used in CPR robots ; remove lx suffix from UST10 files * Fix typo in package name * Add installation of urdf, meshes, and launch directories to CMakeLists.txt * Changes. * 0.1.17 * Install Python helper script using catkin_install_python() so the correct Python version is selected automatically; ensure socket sends message as byte object for Python3, while ensuring backwards compatability with Python2. * RST-484 Adding range offset parameter * Removing limits on range offset * Changelogs * Tailor: Creating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.2.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.3.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.4.0 * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Tailor: Updating Jenkinsfile * Update changelogs * 0.5.0 * Tailor: Updating Jenkinsfile * Removed travis.yml * Refactored deserialization to include new fields * Bugfix: Added missing returns * Bugfix: uint8_t is a char leading faulty conversion from ascii to hex * Corrected after review findings * Function setSkip() set as void This function as no return type causing undefined behavior. This function has been declared as void. * Renamed accessor to visitor, updated license Co-authored-by: Benjamin Scholz <2scholz@informatik.uni-hamburg.de> Co-authored-by: Tony Baltovski <tony.baltovski@gmail.com> Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> Co-authored-by: C. Andy Martin <cam@badger-technologies.com> Co-authored-by: Tony Baltovski <tony@baltovski.ca> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: bostoncleek <bocl8874@colorado.edu> Co-authored-by: luis-camero <88782189+luis-camero@users.noreply.github.com> Co-authored-by: Joey Yang <jyang@clearpathrobotics.com> Co-authored-by: Tom Moore <ayrton04@gmail.com> Co-authored-by: locus-services <33065330+locus-services@users.noreply.github.com> Co-authored-by: Paul Bovbel <paul@bovbel.com>
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Replace URDF file with URDF file from: https://github.com/jackal/jackal/blob/melodic-devel/jackal_description/urdf/accessories/hokuyo_ust10.urdf.xacro
This is favourable because the new URDF adds a convenience mount link at the base of the STL model. Furthermore, the actual
hokuyo_laserframe is positioned at the centre of lens. Finally, using this file allows for compatability with CPR robots'accessories.urdf.xacrofiles.In the context of non-CPR users, the UST10 URDF can be added to a custom URDF file like this: