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Ros Noetic Setup for Ubuntu 20.04

First, ensure you have the required driver packages installed along with ROS Noetic. The urg_node package is commonly used for Hokuyo LiDARs in our case the Hokuyo UST-10LX.

Add ROS Key

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Update Package Index

sudo apt update

Install ROS Noetic Desktop Full, (Includes every feature of noetic including GUI Tools)

sudo apt install ros-noetic-desktop-full

Initialize rosdep

sudo rosdep init

rosdep update

Environment Setup (There could be a chance that it doesn't work but it won't hinder things you can instead just continue to source manually)

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

Install and Build ROS Dependencies

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Installing Required ROS Packages

The urg_node package is the ROS driver for Hokuyo Lidar sensors so it is required

sudo apt install ros-noetic-urg-node

Rviz installation

sudo apt install ros-noetic-rviz

Set up Catkin Workspace

Create Workspace Directory

mkdir -p ~/catkin_ws/src

Build the Workspace (If using githubs make sure that all files can be built by catkin if not it won't build and you'll get an error)

cd ~/catkin_ws

catkin_make

Source the Workspace (This may not work so you can source the workspace manually as you'll see later on)

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

Configure Network Settings (Very important) Make sure Lidar is now connected via Ethernet port and has power

Identify your ethernet Interface (Look for interfaces like eth0 and enp3s0 in our case it is eth0)

ip a

Assign a Static IP Address to Your computer (Not the default address of the Lidar but very similar)

sudo ip addr add 192.168.0.1/24 dev eth0

sudo ip link set eth0 up

Disable Network Manager if needs

sudo nmcli dev set eth0 managed no

Check the Lidar connectivity default address is 192.168.0.10

ping 192.168.0.10

Install the Necessary ROS Packages

Ensure that the required driver packages are installed

sudo apt-get update

sudo apt-get install ros-noetic-urg-node

If you get an error that means that you more than likely have multiple ip address for the same port so to fix this run the following command in a new terminal

Removes all Ip address for that specific interface

sudo ip addr flush dev eth0

Adding new ip address

sudo ip addr add 192.168.0.1/24 dev eth0

Activates Network interface

sudo ip link set eth0 up

Confirming Lidars IP Address

sudo apt install nmap

sudo nmap -sn 192.168.0.0/24

Once packages are downloaded you should be able to run it like listed below

Terminal 1

sudo ip addr flush dev eth0

sudo ip addr add 192.168.0.1/24 dev eth0

sudo ip link set eth0 up

sudo nmcli dev set eth0 managed no

ping 192.168.0.10

Terminal 2

source /opt/ros/noetic/setup.bash

roscore

Terminal 3

source /opt/ros/noetic/setup.bash

source ~/catkin_ws/devel/setup.bash

rosrun urg_node urg_node _ip_address:=192.168.0.10

Terminal 4

You should now see a /scan meaning that the lidar is now reading data by going into:

Rostopic List

To see the data

rostopic echo /scan

Terminal 5

Using Rviz

rviz

Now from here you will see a blank plot meaning we need to set it up. Set Fixed Frame: In the "Global Options," set the Fixed Frame to laser or base_scan (check the frame_id in the /scan topic messages).

If either one of those options do not work you can check the frame_id yourself by using the command below. You will see the data paused so scroll all the way up and look for frame_id and whatever goes after it substitute that for your "Global Options"

rostopic echo /scan -n1

Add LaserScan Display:

Click on "Add." Select "By topic" and choose /scan. Alternatively, select "LaserScan" from the display types and set the topic to /scan. View the LiDAR Data:

You should now see the LiDAR scan displayed in RViz.

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