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Software Structure

This page show the software layers of URG.

Software layer

Please see the following figures in the software layer.

• '''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.