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Setting Up Hokuyo URG-04LX-UG01

A brief documentation on how to install the drivers for using Hokuyo URG-04LX-UG01 sensor with ROS Kinetic.

Instructions

  1. Installing the urg_node:
sudo apt-get install ros-kinetic-urg-node

  1. Configuring the Hokuyo sensor:

    1. Check the permissions of the Hokuyo: ls -l /dev/ttyACM0. The output would be of form:

      crw-[XX]---- 1 root dialout 166, 0 Oct 28 22:12 /dev/ttyACM0

    2. If [XX] = rw, then the laser is configured properly, else run sudo chmod a+rw /dev/ttyACM0 to change the permissions.

    3. Checking if device has been setup properly with ROS:

      rosrun urg_node getID /dev/ttyACM0

      NOTE: The output: Device at /dev/ttyACM0 has ID H0807228 means that the sensor is configured correctly.

  2. Running Hokuyo on ROS:

roscore & rosrun urg_node urg_node
  1. Setup tf tree to visualize the laser scan on rviz:
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 chassis laser 10
  1. Open rviz to visualize the laser scan
rosrun rviz rviz

Running Hokuyo with Alpha

Run the following command to visualize the hokuyo data using rviz:

roslaunch hardware_hokuyo urg04lx_rviz.launch