Back to Top
English | Japanese
Software Structure
This page show the software layers of URG.
Software layer
Please see the following figures in the software layer.
![](https://sourceforge.net/p/urgnetwork/wiki/image/attachment/urg_layers.png)
- '''Application''' -- It is an application layer that uses the URG sensor. For instance, it may be a graphical range viewer or robot navigation program that uses URG sensor, etc. Please refer URG_Applications for some sample applications.
- '''Library''' -- It is a library layer which provide controlling and acquiring range data for application program. Please refer URG_library for our library. You also can make your own library using communication protocol.
- '''SCIP Protocol''' -- It is a communication protocol with the URG sensor.