Ubuntu 16.04上使用HOKUYO UST-10LX 激光雷达

Pre：

硬件环境：NVIDIA TX2

激光雷达：HOKUYO UST-10LX

操作系统：Ubuntu 16.04 、ROS Kinetic（次生操作系统）

通讯方式：以太网

介绍：

北洋HOKUYO UST-10LX介绍：

The UST-10LX scanning laser rangefinder is a small, accurate, high-speed device for obstacle detection and localization of autonomous robots and automated material handling systems. This model uses Ethernet interface for communication and can obtain measurement data in a wide field of view up to a distance of 10 meters with millimeter resolution. Due to its low power consumption, this scanner is able to be used on battery-operated platforms.

HOKUYO UST-10LX SPECS

如何链接？

激光的初始化IP为：192.168.0.10  端口号：10940

设置TX2的以太网连接：

一：点击屏幕右上角“网络连接 --> Edit Connections --> 选择Ethernet --> 点击Add --> 选择Ethernet”

二： 输入 “Connection name”，也可以选择默认，然后选择Tab页面 “IPV4 Settings”，选择“Manual”方式。

三：手动添加Address，点击“Add”按钮，分别输入如下三项，然后点击保存。

Address：192.168.0.20

Netmask：255.255.255.0

Gateway：192.168.0.0

注：此处的Address只要不和激光雷达的IP相同就OK

四：将HOKUYO激光雷达供电（12V-24V），将RJ45接口和TX2开发板的网口连接，测试效果。

证明TX2和HOKUYO激光雷达网络已通。

在ROS中使用，并在RVIZ显示激光点数据

启动master 

roscore

启动激光node，指定到激光的ip 

rosrun urg_node urg_node _ip_address:=192.168.0.10

启动rviz显示 

rosrun rviz rviz