• 30m scanning range. Suitable for security purpose as a monitor in outdoor environment. also possible for sticking-out detection.
• Long distance (30m) and wide angle (270°)
• Reflective type with easy wiring.

Specifications

*1.This accuracy could be less reliable if the sensor receives strong light such as sun light directly in the outdoor environment.
Note) This sensor is not a safety device/tool.
Note) Hokuyo products are not developed and manufactured for use in weapons, equipment, or related technologies intended for destroying human lives or creating mass destruction. If such possibilities or usages are revealed, the sales of Hokuyo products to those customers might be halted by the laws of Japan such as Foreign Exchange Law, Foreign Trade Law or Export Trade Control Order.In addition, we will export Hokuyo products for the purpose of maintaining the global peace and security in accordance with the above laws of Japan .

This example shows how to access a HOKUYO laser scanner and retrieve scans. It makes use of the class hwdrivers::CHokuyoURG, which is in the lib_hwdrivers library. This program can be found in the MRPT source tree at /samples/HOKUYO_laser_test/.

This class works for both versions of the device, URG-04 and UTM-30LX (starting at version MRPT 0.6.0). It will automatically detects the version of the device, then adapts to query the correct amount of scan points.

Basically, the required steps are (refer to the sample code):

• Setup a serial port connection, using a hwdrivers::CSerialPort object. To create this serial port object, pass to it the correct serial port name, e.g. COM4 in Windows, or ttyUSB0 for Linux (names may change for different distributions,...). It may be also something like ttyACM0. Note that the whole path (e.g. /dev/ttyACM0) is not required, it will be generated as necessary. The same applies to Windows serial ports above COM4, you can use the full names (e.g. \.COM14) but the MRPT library will add the prefix if necessary, so you can always use the simpler names "COMXX".
• Bind the serial port to the HOKUYO laser interface, using bindIO() .
• Setup communications and turn the laser on, with turnOn() .
• Invoke in a timely fashion the method doProces(), which processes incoming bytes, builds frames according to the required format, and returns scan data.

There are some options that can be loaded before calling "turnOn()":

    [supplied_section_name]
    COM_port_WIN = COM3
    COM_port_LIN = ttyS0
    pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)
    pose_y=0
    pose_z=0.34
    pose_yaw=0  ; Angles in degrees
    pose_pitch=0
    pose_roll=0
    HOKUYO_motorSpeed_rpm=600     ; (Optional)

Check also the ready-to-use application RawLogGrabber, which allows gathering data in rawlog format from any number of devices simultaneously.

2 Source Code

This example can be found in MRPT/samples/HOKUYO_laser_test/, or browse it at:

http://babel.isa.uma.es/mrpt-browse-code/mrpt-0.6.5/samples/HOKUYO_laser_test/test.cpp online

/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2008  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
 
#include <mrpt/core.h>
 
#include <mrpt/hwdrivers/CHokuyoURG.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/hwdrivers/CSickLaserUSB.h>
 
using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::slam;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace std;
 
 
string SERIAL_NAME;	// Name of the serial port to open
 
// ------------------------------------------------------
//				Test_HOKUYO
// ------------------------------------------------------
void Test_HOKUYO()
{
	CHokuyoURG		laser;
 
	string 			serName;
	cout << "HOKUYO laser range finder test application." << endl << endl;
 
	if (SERIAL_NAME.empty())
	{
        cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0): ";
        getline(cin,serName);
	}
	else
	{
        cout << "Using serial port: " << SERIAL_NAME << endl;
	    serName = SERIAL_NAME;
	}
 
	// Set the laser serial port:
	laser.m_com_port = serName;
 
	// Load config:
	CConfigFile		cfgFile("./LASER_SCAN_TEST.INI");
	laser.loadConfig( cfgFile,"HOKUYO#1" );
 
	printf("[TEST] Turning laser ON...n");
	if (laser.turnOn())
		printf("[TEST] Initialization OK!n");
	else
	{
		printf("[TEST] Initialization failed!n");
		return;
	}
 
#if MRPT_HAS_WXWIDGETS
	CDisplayWindowPlots		win("Laser scans");
#endif
 
	cout << "Press any key to stop capturing..." << endl;
 
	CTicTac     tictac;
	tictac.Tic();
 
	while (!mrpt::system::os::kbhit())
	{
		bool						thereIsObservation,hardError;
		CObservation2DRangeScan		obs;
 
		laser.doProcessSimple( thereIsObservation, obs, hardError );
 
		if (hardError)
			printf("[TEST] Hardware error=true!!n");
 
		if (thereIsObservation)
		{
		    double FPS = 1.0 / tictac.Tac();
 
 
			printf("Scan received: %u ranges, FOV: %.02fdeg, %.03fHz: mid rang=%fmn",
				(unsigned int)obs.scan.size(),
				RAD2DEG(obs.aperture),
				FPS,
				obs.scan[obs.scan.size()/2]);
 
			obs.sensorPose = CPose3D(0,0,0);
 
			mrpt::slam::CSimplePointsMap		theMap;
			theMap.insertionOptions.minDistBetweenLaserPoints	= 0;
			theMap.insertObservation( &obs );
			//map.save2D_to_text_file("_out_scan.txt");
 
			/*
			COpenGLScene			scene3D;
			opengl::CPointCloudPtr	points = opengl::CPointCloud::Create();
			points->loadFromPointsMap(&map);
			scene3D.insert(points);
			CFileStream("_out_point_cloud.3Dscene",fomWrite) << scene3D;
			*/
 
#if MRPT_HAS_WXWIDGETS
			vector_float	xs,ys,zs;
			theMap.getAllPoints(xs,ys,zs);
			win.plot(xs,ys,".b3");
			win.axis_equal();
#endif
 
            tictac.Tic();
		}
 
		system::sleep(5);
	};
 
	laser.turnOff();
}
 
int main(int argc, char **argv)
{
	try
	{
	    if (argc>1)
        {
            SERIAL_NAME = string(argv[1]);
        }
 
		Test_HOKUYO();
		return 0;
 
	} catch (std::exception &e)
	{
		std::cout << "EXCEPCION: " << e.what() << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
 
}