Hokuyo URG-04LX
Laser rangefinder: 5V, 4m, 10Hz, compact.
Connect the Hokuyo
The Hokuyo URG-04LX has a separate power supply via the pins, see the label on the device. Connect the first 2 pins (5V and GND) to a 5V power supply providing at least 500mA. For example, the Pioneer’s user control board / interface on top of the rover provides enough power via the USB sockets.
Connect and stream the range data via a USB-A to USB-A-mini cable.
Install the ROS drivers
ROS indigo:
sudo apt-get install ros-indigo-driver-common
sudo apt-get install ros-indigo-hokuyo-node
From ROS kinetic onwards:
cd ~/catkin_ws/src/
git clone https://github.com/ros-drivers/driver_common.git
catkin_make -C ..
git clone https://github.com/ros-drivers/hokuyo_node.git
catkin_make -C ..
Compile the driver_common package first (see also hokuyo_node install error).
Usage
Check with dmesg or ls /dev/ttyACM* if and on which port the device is
connected, e.g., /dev/ttyACM3.
Check working communication with rosrun hokuyo_node getID /dev/ttyACM3.
roscore &
rosrun hokuyo_node hokuyo_node _port:=/dev/ttyACM3
The node will publish to topic /scan by default.
Visualization
Start rviz, add LaserScan, change its topic to /scan and set laser as
fixed frame.
Bugs/Problems
The new ROS driver for Hokuyo rangefinders urg_node does not work with this sensor (not connected error). Check out urg_node_04lx-github-issue if they fixed the issue. However it works with the depricated hokuyo_node (tested with branch indigo-devel).