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--- software:tortugabot_ros2 [2025/04/03 09:40] – [Notes] s_fuyedc
+++ software:tortugabot_ros2 [2025/09/16 08:42] (current) – [Hokuyo Lidar] s_fuyedc
@@ Line 49: / Line 49: @@
 {{:software:hokuyo_w_gateway.png?800|}}
+If the Hokuyo is reset to factory defaults, put the IPv4 Address to 192.168.0.1 instead.
 ==== DS3 Controller Bluetooth Setup ====
@@ Line 188: / Line 189: @@
 ===== Hokuyo Lidar =====
-Datasheets: {{ :software:ust-10lx_specification.pdf |Specification}}, and {{ :software:ust-10lx_20lx_scip_specifications_c-42-04076.pdf |Communication}}
+Datasheets: {{ :software:ust-10lx_specification.pdf |Specification}}, and {{ :software:ust-10lx_20lx_scip_specifications_c-42-04076.pdf |Communication}}, and {{ :software:ip_discovery_2.1rev.84.zip |IP Discovery tool}} from [[https://www.hokuyo-aut.jp/search/single.php?serial=167#download|Hokuyo]].
@@ Line 202: / Line 203: @@
 ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
 </code>
+If the Hokuyo is reset to factory defaults (like for Tortugabot 4), change the IP in 'tortugabot_ws/urg_node2/config/params_ether.yaml' to '192.168.0.10'.
@@ Line 228: / Line 230: @@
 # Add user to dialout
 sudo adduser $USER dialout
+sudo adduser $USER roscourse
 sudo adduser roscourse dialout
@@ Line 245: / Line 248: @@
 # user: sudo
 sudo apt install ros-dev-tools ros-jazzy-topic-tools
-# allow sudo user arthur to see roscourse directories
-sudo adduser arthur roscourse
 sudo rosdep init
 </code>
@@ Line 294: / Line 295: @@
 # laser
 ros2 launch urg_node2 urg_node2.launch.py
+# Throttle laser frequency to 10 hz
+ros2 run topic_tools throttle messages /scan 10.0
 # transform base_footprint < laser