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Version: ROS 2 Humble

Hokuyo UST20-LX

Item Numbers​

DescriptionCPR ItemSales KitInstallation Kit, With Fasteners
Hokuyo UST20-LX sensor016359029013029012

Specifications​

DescriptionValue
Mass0.13 kg
Voltage, Minimum10 V
Voltage, Maximum30 V
Voltage, Sensor12 V or 24 V
Power, Average3.6 W
DataEthernet, 100 Mbit/s
Range, Minimum0.06 m
Range, Maximum20 m
Range, Accuracy± 40 mm
View, Horizontal270 °
Resolution, Horizontal0.25 °
Ingress Protection, Solids6
Ingress Protection, Liquids5
Operating Temperature, Min-10 °C
Operating Temperature, Max50 °C

Software Bringup​

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

lidar2d:
  - model: hokuyo_ust
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      urg_node:
        laser_frame_id: lidar2d_0_laser
        ip_address: 192.168.131.20
        ip_port: 10940
        angle_min: -2.356
        angle_max: 2.356

Package and Setup​

The Hokuyo UST uses the urg_node ROS 2 package. The driver is open source, maintained by the ROS community, and hosted on GitHub.

For more specifics on the way the Clearpath's configuration system launches the driver, see the Hokuyo UST launch file and the default parameter file in clearpath_sensors.

Troubleshooting​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Further Reading​

  1. Clearpath Robotics Store
  2. Datasheet
  3. User Manual
  4. Hokuyo Website
  5. ROS webpage
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