First, my environment/hardware:
* Laptop - Ubuntu 14.04; ROS Indigo
* Scanse 3D Assembly
What I want to be able to do:
* Use the 3D Scanse Assembly in Simultaneous Localisation and Mapping (SLAM)
Progress thus far:
* I have determined that the ROS Driver should enable the Scanse Sweep to be used in the Gmapping package in ROS to do SLAM with my Robot.
* The Sweep SDKs and ROS Driver are installed on my laptop and operational (as far as I can tell), though I have the following error when launching the ROS launch files:
Error: opening serial port failed
* I have installed CuteCom and am intending to follow the instructions here to ensure that I've set the port comms correctly, in the hope that it will remedy the error outlined above.
* As an aside, I'm hoping this will also allow me to manipulate the Scanse assembly via the Scanse Viewer Program - I currently cannot connect to the sensor successfully as far as I can tell.
* Given that I am using the 3D Scanse Assembly, I am unsure as to where to plug the USB cable from the Laptop, given that there is an additional servo and a Raspberry Pi in the assembly prior to reaching the Sweep.
* Or, do I need to install ROS on the Raspberry Pi to interact with the servo and Sweep and feed it back to my laptop?
* How can I communicate with the Sweep LiDAR via the 3D Assembly to ROS?