Hokuyo，UST

Hokuyo，UST

Hokuyo激光雷达UST-10LX：
如果使用的是USB接口的激光雷达，直接看ROS-wiki的教程就可以了：

1.首先下载相关节点包，UST-10LX采用的接口是以太网接口，所以需要下载urg_node的包，

$ sudo apt-get install ros-indigo-urg-node

如果用的是UST-30LX这种采用USB接口的激光雷达，需要下载hokuyo_node 的包：

$ sudo apt-get install ros-indigo-hokuyo-node

2.修改Ubuntu的IP地址：
编辑/etc/network/interfaces，添加一个静态的IP地址。

$ sudo vim /etc/network/interfaces

在

auto lo
iface lo inet loopback

下面添加以下语句：

auto eth0
allow-hotplug eth0
iface eth0 inet staticaddress 192.168.1.20netmask 255.255.255.0

因为Hokuyo激光雷达的固定IP地址是“192.168.1.10”（出厂设置是“192.168.0.10”），所以在Ubuntu上添加IP地址时，使用“192.168.1.XX”，最后两个数字应该和“10区分”，前面三段和激光雷达的IP一样。
将激光雷达连在电脑上，确认连接：

$ ping 192.168.1.10

3.确认激光雷达已经通电并连接在电脑上后，获取激光雷达数据：

$ roscore
$ rosrun urg_node urg_node _ip_address:=192.168.1.10

如果激光雷达是通过USB连接的，Ubuntu会自动识别并连接。

4.查看激光雷达检测到的数据

$ rostopic echo /scan

数据跳动的很快

5.查看激光雷达扫描的消息类型和消息结构

$ rostopic type /scan
$ rosmsg show sensor_msgs/LaserScan

6.在rviz中查看激光数据：

$ rosrun rviz rviz

在Add中依次添加LaserScan和话题/scan下的LaserScan。

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