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What is URG sensor

The URG sensor is a distance laser sensor made by Hokuyo Automatic. This sensor can acquire the highly accurate wide range data.

The first figure shows an URG sensor mounted on the robot top and
its surrounding environment. Obtained raw data from the sensor
are pairs of range and direction which can be plotted graphically
like second figure. In the second figure, the sensor is placed
at the origin of the coordinate, and obtained ranges and
directions are drawn by blue lines. Objects seen like continuous
line such as walls are shown by red points plotted, and this is
done not by sensor itself, but the viewer application.

This sensor has communication channel such as USB port or serial RS232, and can be controlled by command interface.
The communication protocol is common in all sensors.

URG series sensor

Guaranteed ranges described below are only in condition that measurements achieved to target of white color paper.
Other materials may cause shorter range limitation because of less reflection properties of laser beam.

UTM-30LX-EW

Another name is '''Ether-top'''.

	Specifications
	Guaranteed range		0.1 - 30 [m]
	Maximum range		0.1 - 60 [m]
	Scan angle		270 [deg]
	Angle resolution		0.25 [deg]
	Scan speed		25 [ms] (2400 [rpm])
	Interface		Ethernet

UXM-30LX-EW

Another name is '''Tough-URG'''.

	Specifications
	Guaranteed range		0.1 - 30 [m]
	Maximum range		0.1 - 100 [m]
	Scan angle		190 [deg]
	Angle resolution		0.25 [deg]
	Scan speed		50 [ms] (1200 [rpm])
	Interface		Ethernet

UTM-30LX

Another name is '''Top-URG'''.

	Specifications
	Guaranteed range		0.1 - 30 [m]
	Maximum range		0.1 - 60 [m]
	Scan angle		270 [deg]
	Angle resolution		0.25 [deg]
	Scan speed		25 [ms] (2400 [rpm])
	Interface		USB

URG-04LX

Another name is '''Classic-URG'''.

	Specifications
	Guaranteed range		0.06 - 4.0 [m]
	Maximum range		0.02 - 5.6 [m]
	Scan angle		240 [deg]
	Angle resolution		0.36 [deg]
	Scan speed		100 [ms] (600 [rpm])
	Interface		USB or RS-232

URG-04LX-UG01

Another name is '''Simple-URG'''.

	Specifications
	Guaranteed range		0.06 - 4.0 [m]
	Maximum range		0.02 - 5.6 [m]
	Scan angle		240 [deg]
	Angle resolution		0.36 [deg]
	Scan speed		100 [ms] (600 [rpm])
	Interface		USB

UBG-04LX-F01

Another name is '''Rapid-URG'''.

	Specifications
	Guaranteed range		0.1 - 4.0 [m]
	Maximum range		0.1 - 5.6 [m]
	Scan angle		240 [deg]
	Angle resolution		0.36 [deg]
	Scan speed		28 [ms] (2142 [rpm])
	Interface		USB or RS-232