Hokuyo URG-04LX-UGo1

URG Drivers

Prefered latest drivers.

References

• URG Home
• ROS URG

Install

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

Test

Terminal 1

 roscore

Terminal 2

 rosrun urg_node urg_node

Terminal 3

 rosrun rviz rviz

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

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

See http://10.0.0.9/wiki/index.php/Hood_XV_11_ROS_Install#Install about blacklist of cdc_acm

 cd /etc/modprobe.d/
 sudo cp blacklist.conf blacklist.conf.xv11
 sudo cp blacklist.conf.org blacklist.conf
 reboot

http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode

terminal 2

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

 rosrun hokuyo_node hokuyo_node

terminal 3

 rosrun rviz rviz

Global Options

 Fixed Frame is "laser"

LaserScan

 Topic is "/scan"

ls Pictures/rviz_hokuyo.png

 roscd hokuyo_node/

http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/

see technical drawing for hole placement and screw size http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_ed_en.pdf

 2-M3 Depth 6    metric 6 mm max depth

specs http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/URG-04LX_UG01_spec_en.pdf