Kubo: LiDAR

Overview

Kubo currently has two lidar units, both manufactured by Hokuyo. The Hokuyo UXM 30LX-E is a larger 190 degree sweep lidar pointing forward with mounting-adjustable angle. The Hokuyo UST-10LX is a smaller 270 degree sweep lidar pointing downward for measuring ground height.

UXM 30LX-E

UST-10LX

Links

UXM 30LX-E

• Specification Documentation (link)
• Quick Data Sheet (mostly physical specifications) (link)
• Some sort of C Library (link)
• More Official Documentation (link)
• Old Olin Documentation: (link) (link)

UST-10LX

• Specification Documentation (link)
• RobotShop Product Page (link)

Configuration

UST-10LX

• WIRING: RJ45 Ethernet cable for data - 12V(cln) w/ 2A fuse - GND
• Due to periodic package dropping and reading good values on hokuyo_node ROS wiki (link), reset skip parameter using rosrun rqt_reconfigure rqt_reconfigure (link) from 0 to 1. Resulting config .yaml file in gravl/cfg folder.

UXM 30LX-E

• WIRING: RJ45 Ethernet cable for data - 12V(cln) w/ 3A fuse - GND

Setup

UXM 30LX-E

1 Install the ROS urg-node using the following command where <ROS version> is the version of ROS that you are using (eg. indigo, kinetic...):
sudo apt-get install ros-<ROS version>-urg-node
Urg-node documentation is located on the ROS wiki (link)

2 Add a wired connection to your computer, name it something related, and change the settings so that they match the image below:

• The address has to have the same 3rd number as the Lidar's address, but a different 4th number

3. Plug in Lidar Ethernet cable and connect using connection created in Step 2.

4. Open a new Terminal and run roscore, then in a new Terminal, connect to the Lidar by running rosrun urg_node urg_node _ip_address:="192.168.1.10" Alternately, run roslaunch tractor lidar.launch

The IP address of the Lidar should be 192.168.1.10

UST 10-LX

1 Install the ROS urg-node using the following command where <ROS version> is the version of ROS that you are using (eg. indigo, kinetic...):
sudo apt-get install ros-<ROS version>-urg-node
Urg-node documentation is located on the ROS wiki (link)

2 Add a wired connection to your computer, name it something related, and change the settings so that they match the image below:

• The address has to have the same 3rd number as the Lidar's address, but a different 4th number

3. Plug in Lidar Ethernet cable and connect using connection created in Step 2.

4. Open a new Terminal and run roscore, then in a new Terminal, connect to the LiDAR by running rosrun urg_node urg_node _ip_address:="192.168.0.4"

The IP address of the Lidar should be 192.168.0.4

Mount

UXM 30LX-E

Onshape CAD for mount (link)

UST 10-LX

• GrabCAD CAD for LiDAR unit (link)
• Solidworks CAD for mount located in GRAVL GrabCAD
• Hardware
  • 2x 1/4 x 28 in Phillips-head bolts
  • 2x Appropriate nuts
  • 2x 12mm M3 Screws

Lidar Data

• Based upon 1 data set, the ground seems to have an incline. It could be a problem with the LIDAR or code, or the ground could have been slanted.