LIDAR

Hokuyo LIDAR

https://www.hokuyo-usa.com/products/scanning-laser-rangefinders/ust-10lx

Configuration Hokuyo Lidar Sensor

1. Set up

• Assign a static IP address to the Ethernet connection which connect to the sensor
• Set IP4 settings to Manual
• IP Address: 192.168.1.15
• Net Mask: 255.255.255.0
• Gateway: 192.168.1.1

2. ROS

• Download packages for hokuyo sensors with:
  sudo apt-get install ros-kinetic-urg-node
• Start up a ROS master with command:
  roscore
• Make sure, the device is connected via Ethernet and you are connected to the network 'Hokuyo'.
• Open a new terminal and start the sensor node with command:
  (The parameter is assigned by hokuyo’s IP address)
  rosrun urg_node urg_node _ip_address:=192.168.1.10
• After connecting to Hokuyo, we can check if we can receive the data from the sensor by checking whether there is /scan topic by:
  rostopic list
  or
  rostopic echo -n1 /scan
  to receive the data
• We can also visualize the data by Rviz with command:
  rviz rviz
  and add /scan topic by “add” “by topic” “Laser scan” There will be an error, since there is not yet information of transformation. Hence, we change the fixed frame from map to Laser scan to avoid the transformation for now. Then the data of the sensor will be able to show on Rviz.