README_en.md

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URG Node

Table of Contents

1. Introduction
2. Getting Started
   • Prerequisites
   • Installation
3. 　Launch and Usage
4. Milestone
5. Acknowledgments

Introduction

This repository is for launching Laser Range-Finders (LRF). This repository contains a node that publishes sensor data from a Laser Range-Finder to the Robot Operating System (ROS). Developers working with ROS can use this node to connect a LRF to an existing ROS installation.

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Getting Started

This section describes how to set up this repository.

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Prerequisites

First, please set up the following environment before proceeding to the next installation stage.

System	Version
Ubuntu	20.04 (Focal Fossa)
ROS	Noetic Ninjemys
Python	3.8
Driver	SCIP 2.2

Note

If you need to install Ubuntu or ROS, please check our SOBITS Manual.

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Installation

1. Go to the src folder of ROS.

   $ roscd
   # Or just use "cd ~/catkin_ws/" and change directory.
   $ cd src/

2. Clone this repository.

   $ git clone https://github.com/TeamSOBITS/urg_node

3. Navigate into the repository.

   $ cd urg_node/

4. Install the dependent packages.

   $ bash install.sh

5. Compile the package.

   $ roscd
   # Or just use "cd ~/catkin_ws/" and change directory.
   $ catkin_make

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Launch and Usage

1. Set the parameters inside urg_lidar.launch.

   <!-- If using LAN cable, set IP address -->
   <param name="ip_address" value=""/>
   <!-- If using USB cable, set serial configuration -->
   <param name="serial_port" value="/dev/ttyACM0"/>
   <param name="serial_baud" value="115200"/>

Note

You can find the value of serial_port with ls -la /dev/ttyACM* command.

2. Execute the launch file urg_lidar.launch.

   $ roslaunch urg_node urg_lidar.launch

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Publisher

Topic Name	Type	Meaning
/scan	sensor_msgs/LaserScan	Scan result from URG

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Milestone

• TBD

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Reference

• urg_node ROS Official Website
• HOKUYO Website

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