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How to use URG on ROS

The Robot Operating System (ROS) already includes support for our URG series sensors via the urg_node.
If you haven't install ROS yet. Please check http://wiki.ros.org/kinetic/Installation to install ROS on your PC.

This is how to install urg_node, and how to show data.

1. installing urg_node

sudo apt-get install ros-${ROS_DISTRO}-urg-node

2. run roscore

You have to run roscore beforehand run urg_node.

roscore

3. run urg_node

To start urg_node, Please type below on new terminal.

• in the connect to Ethernet type sensor case (IP Address : 192.168.0.10)

rosrun urg_node urg_node _ip_address:=192.168.0.10

• in the connect to serial type sensor case (serial device : /dev/ttyACM0)

rosrun urg_node urg_node _serial_port:=/dev/ttyACM0

4. run rviz

Start RViz, for show urg data.

rosrun rviz rviz

5. setting rviz

• Change "Global Options->Fixed Frame" to "/laser".
• Add "LaserScan".
• Change "LaserScan->Topic" to "/scan".
  (If you take multi echo data, you can see first echo by "/first" topic in stead of "/scan")

Display on runtime: