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Youbot Hokuyo Setup
Setting udev rule In order to use the Hokuyo under Ubuntu you need to add a so-called udev rule first, so that the system will recognize it as a Hokuyo sensor.
For creating the rule you need to create a file under /etc/udev/rules.d and edit it, e.g. with
sudo nano /etc/udev/rules.d/47-hokuyo.rules
Copy the following contents into the file:
KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", SYMLINK+="sensors/hokuyo"
When you then connect the Hokuyo via the USB cable to the PC, it should be recognized as /dev/sensors/hokuyo
If it does not work, make sure that the hokuyo_node will be able to access the Hokuyo laser scanner.
Start by listing the permissions of the Hokuyo:
ls -l /dev/ttyACM0
You will see something similar to:
crw-rw-XX- 1 root dialout 166, 0 2009-10-27 14:18 /dev/ttyACM0
If XX is rw: the laser is configured properly.
If XX is --: the laser is not configured properly and you need to:
sudo chmod a+rw /dev/ttyACM0