In this section, installation method of each library is explained. ROS communicates with different sensors and motors through nodes. Do not use an Ubuntu virtual machine to read Hokuyo data. All steps in this tutorial are the same for these sensors. The three lasers all have similar characteristics except for a few key differences.
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This acrylic sheet represents a transparent shield that a user might place around the laser to protect it from any potential harm. This diagram shows a graphical representation of the scanning range of each Hokuyo range finding laser featured.
Using ROS to read data from a Hokuyo scanning laser rangefinder
If you’re a ‘complete newbie’ it’s fairly likely you did that wrong. Try using the following command to set the default port for the linuux. Specifically sets the include path and library path. If XX is rw, then the laser is configured properly.
Size comparison of Hokuyo lasers: Go to the terminal, copy this in line by line if you followed setup instructions verbatim. There is possibility of error make: The sensor sends out light at a known wavelength and then reads the reflected light after it has traveled out to the environment and back to the sensor.
URG C Library document
Manage book 0 page s. It was also observed in this test that there exists a small window where the range data disappears.
The Hokuyo sensors are excellent options for SLAM, sense-and-avoid, and other vision applications for mobile robots. It contains many different sized cars and a wide range of surface materials. Build method Start Visual Studio from urg-X.
Software Engineering Best Practices. Linux Some parts of library depend on SDL and boost. Each product is shown with a different color where the range of possible measurements is the shown by the length of the arc. I then tried to connect my hokuyo urg 04lx 2d sensor to the desktop and referred to the supported sensor page. For questions, clarifications, etc, Email: They are clearly different connection types that require different procedures.
Sample program for Hokuyo URG – programming
The highly accurate lasers could be used alone to create a two-dimensional line as seen in this article. Two of the lasers have Ethernet connections and the other has a USB connection jokuyo this difference will be discussed later in the article. Plug in your hokuyo to the usb drive. Each laser was also compared to itself when a mock protective acrylic sheet was placed in front of the laser.
I have tried several virtual machine configurations, and in each case the Hokuyo successfully connects but data is lost when it is streamed through the host machine to nokuyo virtual machine.
Hokuyo Laser Range Finder Comparison
Failed to open port: Sample programs to implement URG’s library. Hopefully you are now successfully streaming data from the Hokuyo.
The setting hlkuyo the indoor test was a small section of the Acroname office. A more useful application would be to liinux multiple lasers or a laser on a moving platform to create a point cloud to analyze a 3D space. Moreover, Boost library is also used in sample application. The distance D between sensor and target can be written, Where c is the speed of light and t is the time it takes the light to travel from sensor to target and back.
The results from this test are shown below for each of the featured lasers. Except where otherwise noted, content on this wiki is licensed under the following license: