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Welcome to URG Network

The Hokuyo URG-Series sensors are accurate distance measurement sensors. The purpose of this site is to show how to set up the URG sensor, how to make program to acquire data, and how to make applications for URG sensor etc.

Contents

• What is URG _sensor
• Tutorial -- How to set up the URG hardware.
• Driver install -- How to set up the URG Windows driver.
• IP address setting -- How to set up IP Address on Windows.
• Software structure
  • URG library -- Usage of URG libraries.
  • URG applications -- Applications using URG sensor.
  • C# samples -- C# Sample source of communicate to URG.
  • Java samples -- Java Sample source of communicate to URG.
  • URG 3D library -- Usage of URG 3D libraries.

• 2D-URG communication commands
• Explanation of SCIP commands
  • Setting of operation mode
  • Obtain status information
  • Receive distance data
  • SCIP Encode Decode Calculator
  • SCIP Communication Size Calculator
• 3D-URG communication commands
• Explanation of VSSP commands
  • Common header of VSSP
  • Receive distance data
  • Version information
  • Get parameter values
  • Set parameter values
  • Error information
  • Reboot
• YLM series
  • sample program
  • Sensor Configuration -- Explanation of how to configure the YLM series
• ROS
  • urg_node -- Using 2D-URG on ROS (Robot Operating System)
  • hokuyo3d -- Using 3D-URG(YVT) on ROS (Robot Operating System)
  • ylm_ros -- Using YLM on ROS (Robot Operating System)
• ROS2
  • urg_node2 -- Using 2D-URG on ROS2
  • urg3d_node2 -- Using 3D-URG(YVT) on ROS2
  • ylm_ros2 --Using YLM on ROS (Robot Operating System)
• Others
  • Connection URG and embedded device -- Explanation of connection URG and embedded device.
  • Validation method of serial device -- Explanation of Validation method of serial device.

RSF (Self Positioning Sensor)

• Overview -- Introduction of RSF (Self Positioning Sensor)
  • hokuyo_rsf -- Quick Start for ROS2
• hokuyo_navigation2 -- Using Navigation System

Link

• Urg Driver for LabView -- URG Driver to use in LabView.
• UrgRTC -- RT component made by Yuki Suga to use Urg sensor in OpenRT-aist (Middleware for robot). It is made of components such as mobile robot navigation, which can be used in combination with each other.

Support

If you have any questions, ask in our Forum.
http://sourceforge.net/p/urgnetwork/discussion

History

2025/10/27: Removed links to deleted pages.
2025/08/18 : updated URG 3D library to ver.2.0.1(Changed read buffer size. Fixed copy destination for range index. )
2025/06/25 : updated URG 3D library
2020/08/25 : added Explanation of VSSP commands
2019/10/29 : updated URG library to ver.1.2.5(Added urg_t_initialize function. Fixed sync_time_stamp sample.)
2019/08/20 : updated URG library to ver.1.2.4(added handshake samples, fixed reboot, get_sensor_time_stamp on c++)
2018/06/01 : updated URG library to ver.1.2.3(added VS2015, VS2017 project files)
2018/04/25 : updated URG3D library to ver.1.1.0 (Changed file name, function name, macro name to urg3d_### from urg_###.)
2017/11/28 : updated URG library to ver.1.2.2 (modified angle calcuration when set grouping step as 0)
All history

[VISHNUPRASAD PRACHANDABHANU]

[wada-f]

Hello,

When communicating with URG-04LX at Arduino, a "USB host shield" is required.
example -> https://store.arduino.cc/usa/arduino-usb-host-shield
URG-04LX supports both RS 232c and USB.
If usb USB host shield, communication with USB is possible.

There are sample codes of "CDC-ACM" and "URG-04LX-UG01" on the following links.
Please refer to when creating the program.
https://github.com/mistycheney/iSee/tree/master/Master%20Arduino%20Codes/HokuyoArduinoMega

Best regards
WADA

[taeuk jang]

I am having trouble with connecting two hokuyo UTM-30LX with urg_node package.
I have no idea how to run them at a same time.
i tried "rosrun urg_node urg_node", launch file below and seperated into 2 launch files. but all three didn't work. (showing error that " Error count exceeded limit, reconnecting.")
I need some help.

I am using serial port

<launch>
<node name="Laser1" pkg="urg_node" type="urg_node">
<param name="port" type="string" value="/dev/ttyACM0">
<param name="calibrate_time" type="bool" value="false">
<param name="frame_id" type="string" value="/hokuyo">
<param name="min_ang" type="double" value="-1.57">
<param name="max_ang" type="double" value="1.57">
<param name="intensity" type="bool" value="true">
<remap from="scan" to="scan1">
</remap></node>
<node name="Laser2" pkg="urg_node" type="urg_node">
<param name="port" type="string" value="/dev/ttyACM1">
<param name="calibrate_time" type="bool" value="false">
<param name="frame_id" type="string" value="/hokuyo">
<param name="min_ang" type="double" value="-1.57">
<param name="max_ang" type="double" value="1.57">
<param name="intensity" type="bool" value="true">
<param name="time_offset" type="double" value="0.7">
<remap from="scan" to="scan2">
</remap></node>
</launch>