README.md

Sensor Client for Hokuyo Lidars

whisker_client_lidar_hokuyo

This component obtains range data from 2D lidars manufactured by Hokuyo. It uses the company's URG Library to communicate with sensors over Ethernet or serial port.

Supported Platforms

Linux (GCC, Clang), macOS (Xcode Clang), Windows (MSVC)

Command Line Options

• --config=[config file path]
  • Use JSON configuration file at the given path (default: config.json in current directory)
• --id=[client ID]
  • Specify the vehicle-wide unique ID used to identify this component to the server (default: hokuyo0)

Configuration

This example config is available at /config/config.json. Note the use of client ID as the configuration object's key.

// config.json
{
  "vehicle": {
    // ...
    "clients": {
      "hokuyo0": {
        "serial_device_or_ip": "/dev/ttyACM0",
        "is_serial_device": true,
        "position": {
          "x": 0,
          "y": 0,
          "r": 0
        }
      }
    }
  }
}

Key	Type
serial_device_or_ip	string	Lidar's IP address or serial port device/name
is_serial_device	boolean	Whether to interpret the above value as a serial port instead of IP
x	number	X offset in meters of center of sensor away from center of vehicle 1
y	number	Y offset in meters of center of sensor away from center of vehicle 1
r	number	Rotation in degrees of front of sensor away from front of vehicle 1

¹ Transforms in Whisker are expressed as (when viewed from above): +x towards front of vehicle, +y towards left of vehicle, +r counterclockwise with 0 at front of vehicle