Hokuyo Laser Ranger finder: UHG-08LX (s ensor for intelligent robots)

• RobotsinSearch is offering the lowest price for Hokuyo UHG-08LX scanner. 
• UHG-08LX has 2 times of detection range of previous model URG-04LX.
• UHG-08LX  is for service robots in terms of mapping and self-positioning.
• UHG-08LX  is  compact and powerful range finder for autonomous robots.
• UHG-08LX  has 8m and 270° scanning range
• 0.36° angular resolution
• 67msec/scan
• 12V operating voltage
• Can be used on battery operated platforms
• Lowest price

Installation Instructions

• No part of the window should be covered as the scanner projects and receives through the same window. 
• Anything less than a window of 28mm in height could result in interference. 
• The window also should allow for 270 degree scanning if the entire range of the laser is being utilized.
• Each customer is responsible for writing their own software. 
• A display viewer (VMON) is available from Hokuyo’s website.  The site can be accessed with the user ID and password included on the inspection sheet inside the laser box.

Model No.	UHG-08LX
Power source	12VDC±10%
Detection Range	30 to 11,000mm(Indoor, White Square Kent Sheet 250mm) 270°
Accuracy	100 to 1,000mm:±30mm 1,000 to 8,000mm:±3% of Measured Distance (Indoor, White Square Kent Sheet 250mm)
Angular Resolution	0.36°(360°/1,024 steps)
Light source	Semiconductor laser diode(?=785nm) Laser safety Class 1(FDA)
Scan Time	67msec/scan
Sound level	Less than 25dB
Interface	USB2.0(Full Speed)
Synchronous output	NPN open collector
Command system	Exclusively designed command SCIP Ver.2.0
Connection	Power and Synchronous output:2m flying lead wire USB:2m cable with type-A connector
Amblent illuminance?1	Halogen/mercury lamp:10,000lx or less, Florescent:6,000lx(Max)
Amblent(Temperature/Humidity)	-10 to +50 degrees C, less than 85%RH(without dew and frost)
Vibration Resistance	Double amplitude 1.5mm 10 to 55Hz, 2 hours each in X, Y and Z direction
Impact Resistance	196m/s2, 10 times in X, Y and Z direction
Weight	Approx. 500g(with cable attachment)

?1.This product is only for indoor applications. Strong sunlight may cause error output.

Note) This sensor is not a safety device/tool.
Note) This sensor is not for use in military applications.

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;
	}
 
}