View source for Hokuyo URG-04LX-UGo1

= Hokuyo Reference =

* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/ URG-04LX-UG01]
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_spec_en.pdf Specs]
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_ed_en.pdf Tech Drawing] for screw size and placement. (2-M3 Depth 6    metric 6 mm max depth)

= URG Drivers = 

Prefered latest drivers.

== References ==

* [https://sourceforge.net/p/urgnetwork/wiki/Home/ URG Home]
* [http://wiki.ros.org/urg_node ROS URG]

== Install ==

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

=== If cdc_ace Linux module is Blacklisted ===

This may have been done to make the XV-11 LIDAR work. See
* [[Hood_XV_11_ROS_Install#Install]]

  cd /etc/modprobe.d/
 
  diff blacklist.conf.org blacklist.conf
    55a56
    > blacklist cdc_acm
  
  sudo cp blacklist.conf blacklist.conf.xv11
 
  sudo cp blacklist.conf.org blacklist.conf

Reboot

== Test ==

Terminal 1
  roscore

Terminal 2
  ls -l /dev/ttyACM0
 
  sudo chmod 666 /dev/ttyACM0
 
  rosrun urg_node urg_node

Terminal 3
  rosrun rviz rviz

* Global Options
**  Fixed Frame is "laser"
* LaserScan
**  Topic is "/scan"

[[Image:rviz_hokuyo.png|600px]]

== Create Package ==

Creating a ROS package as some place to develop launch scripts for the Hokuyo LIDAR.

  cd catkin_ws_indigo/src/
 
  roscreate-pkg hokuyo_bot std_msgs rospy roscpp
 
  cd ..
 
  catkin_make
 
  source devel/setup.bash 
  
  roscd hokuyo_bot
 
  mkdir launch

= Hokuyo Driver =

Old drivers for USB only.

== Reference ==

* [http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode ROS Hokuyo Tutorial]

== Install ==

  sudo apt-get install ros-indigo-hokuyo-node

== Test ==

terminal 2

  ls -l /dev/ttyACM0
  
  sudo chmod 666 /dev/ttyACM0
 
  rosrun hokuyo_node hokuyo_node

terminal 3

  rosrun rviz rviz

See above for setting up rviz