Ubuntu+Hokuyu URG-04LX-UG01

try get

http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/index.html

Q：安装完后测试激光。为何非要在root模式才会启用激光，最近在寻找原因～

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•  URG programming guide
  

URG series sensor

Explanation of the SCIP 2.0 protocol that is using in URG series.
Library and sample that uses SCIP2.0 protocol are introduced here.

• Sample library for URG
  • urg-0.8.18.zip

• Targeted development environment
  • Windows
    • Visual Studio 2005
    • MinGW
    • Qt
      
      
  • Linux,Mac
    • gcc

• Validation method of serial device
  • Confirmation of the Windonw's serial device.
  • Confirmation of serial device with Linux
  • Confirmation of serial device with Mac

• Explanation of SCIP commands
  • Setting of operation mode
  • Obtain status information
  • Receive distance data

• Sample program for URG
  • About sample programs for URG
  • URG library API
    • urg_ctrl.h ... C's API
    • qrk::UrgCtrl ... C++'s API
  • Method to use URG library

• Sample program
  • Sample programs on how to use C library
    • gd_scan.c ... Get data
    • md_scan.c ... Get data (Continuously)
    • get_version_lines.c ... Display version information
    • get_parameters.c ... Get parameter
    • expand_2d.c ... Convert distance data to 2 dimensional co-ordinate to draw graph
    • index_convert.c ... Angle conversion
    • get_timestamp.c ... Get time stamp
    • multi_urg.c ... Get data related to multiple URG
      
      
  • Sample programs on how to use C++ library
    • gdCaptureSample.cpp ... Get data
    • mdCaptureSample.cpp ... Get data (Continuously)
    • captureIntensitySample.cpp ... Get Intensity data
    • viewVvSample.cpp ... Display version information
    • viewPpSample.cpp ... Display parameter

• Application
  • Tool that view URG data.
  • Inspection tool of URG receive data
  • Acquire 3d data using WII remote control
  • Tool to display URG port

• Technical document
  • About the connection between Top-URG and embedded device.

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Sample program for URG

About sample programs for URG

Sample programs to implement URG's library. These programs can be executed in Windows, Linux and Mac
C++ programs are implemented according to boost and STL. To install boost and SDL please refer below pages.

• About construction of development environment
  • Windows
  • Linux
  • Mac

There is no gurantee that these programs can be execute in any environment. Consider just as a sample program

• Revision history of URG library

URG library API

• urg_ctrl.h ... API in C
• qrk::UrgCtrl ... API in C++

Method to use URG library

URG library for Windows.

URG library can be create as lib file and include/ folder.Those created can be used in Windows.

• Build method
• Start Visual Studio 2005 from urg-X.X.X/vc8/c/c_urg.vcproj (as well as urg-X.X.X/vc8/cpp/urg.vcproj), then press F7 to Build.
• Build can be considered as success if Debug/c_urg.lib file and include folder are created.

• How to use library
  • use Debug/c_urg.lib and include files.

Using URG library in Linux

• Compiling method
  • Compilation can be done with configure && make
    • C++ version library cannot be compiled without boost, SDL and SDL_net.
      
      
  • Each script in c_urg-config, urg-config can be used after installation using "make install".
    
    

    % unzip urg-X.X.X.zip
    % cd urg-X.X.X
    % ./configure && make
    # make install 

• How to use library
  • The option necessary for the compilation can be described by using c_urg-config (Or urg-config).
    • c_urg_sample.tar.gz ... Sample using C version library.
    • urg_sample.tar.gz ... Sample using C++ version library.

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Linux

Some parts of library depend on SDL and boost.
In this section, installation method of each library is explained.

• Install SDL on Linux
• Install Boost on Linux

While using package installation on Linux, it is better to use this package tool that manages distribution.(apt, rmp etc)
Install using source code, only when package management is not done.

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Install SDL on Linux

• Install SDL using package management tool
  • In ubuntu 「libsdl1.2-dev」is installed.

• Install SDL from source.
  • Download and compile the file SDL-1.2.XX.tar.gz from SDL site

    % tar zxvf SDL-1.2.XX.tar.gz
    % cd SDL-1.2.XX
    % ./configure && make
    % sudo make install 

Install Boost on Linux

• Install Boost using package management tool
  • In ubuntu 「libboost-dev」and「libboost-regex-dev」is installed.

• Install Boost from source
  • Download and compile the file boost-1.37.X from Boost site

    % tar zxvf boost_1_37_X.tar.gz
    % cd boost_1_37_X
    % ./configure && make
    % sudo make install
    
    % cd /usr/local/include
    % sudo ln -s boost_1_37_X/boost boost 

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