LIDaR (LIght Detection and Ranging or Laser Imaging Detection and Ranging) is an optical remote sensing technology that can measure the distance to, or other properties of, targets by illuminating the target with laser light and analyzing the backscattered light. [Wikipédia]
Hokuyo URG Programming Ressources http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/
This lidar sensor provides the SCIP (Sensor CommunIcation Protocol Specification) 2.0 API.
Use the Lidar with ROS
A dedicated ROS node exists. To use it, a tutorial is available on ROS website. If you are using ROS on a recent environment (Ubuntu version >= 12.10 & ROS version >= Groovy) some changes have to be made.
- For the installation, point 1.1 of the tutorial. You get the hokuyo_node package by the command:
sudo apt-get install ros-groovy-laser-drivers
- For viewing the data, point 1.7 of the tutorial. You monitor the data into the rviz tool with these commands:
rosrun rviz rviz -lthen, add a new LaserScan Interface and fill the following informations :
Fixed frame: /laser
Target frame: /laser
Now you can see the Lidar working ;)
In the following photo, we test the lidar by creating an almost 3 sides-square shape. You can see that is been monitored on rviz, with a hole on the right side (the empty space between the Lidar box and the computer screen).