### Repository Summary | | | | --- | --- | | **Checkout URI** | https://github.com/ros-drivers/urg\_node.git | | **VCS Type** | git | | **VCS Version** | jazzy | | **Last Updated** | 2025-05-23 | | **Dev Status** | MAINTAINED | | **Released** | RELEASED | | **Tags** | _No category tags._ | | **Contributing** | Help Wanted (0)<br> <br>Good First Issues (0)<br> <br>Pull Requests to Review (\-) | ### Package Description urg\_node #### Additional Links * Website * Bugtracker * Repository #### Maintainers * Michael Ferguson * Tony Baltovski #### Authors * Chad Rockey * Mike O'Driscoll README.md urg\_node ========= ### Branches * ROS1: * Melodic & Noetic: melodic-devel * Kinetic: kinetic-devel * ROS2: * Galactic, Humble, Rolling: ros2-devel ### LaserScan Visualization Until the launch API is sorted out, there are two ways to view the laserscan in RViz: 1) use the static\_transform\_publisher tool from tf2\_ros to publish a static transform for a fixed frame simultaneously with rviz and urg\_node. ros2 run tf2_ros static_transform_publisher --frame-id world --child-frame-id laser where “laser” is the frame id, which you can set in your urg\_node yaml file 2) Run the robot\_state\_publisher along with a urdf file so that a fixed frame can be loaded in rviz ros2 run robot_state_publisher robot_state_publisher <path to urdf file> A urdf file is already included and if you have succesfully ran an `colcon build`, the path to urdf file will be: <path to ros2_ws>/install/share/urg_node/launch/hokuyo_laser.urdf Now run RViz: ros2 run rviz2 rviz2 or simply `rviz2` Add the LaserScan topic and change the global fixed frame from ‘map’ to ‘world’ to display the laser scan. ### Parameters A YAML file example is included in the launch folder, all the available parameters are listed in it. For example (note that the serial\_port is commented because you can’t set a param with an empty string): urg_node: ros__parameters: ip_address: "192.168.0.10" ip_port: 10940 #serial_port: "" serial_baud: 115200 laser_frame_id: laser angle_max: 3.14 angle_min: -3.14 publish_intensity: false publish_multiecho: false calibrate_time: false default_user_latency: 0 diagnostics_tolerance: 0.05 diagnostics_window_time: 5.0 error_limit: 4 get_detailed_status: false cluster: 0 skip: 1 To give parameters to urg\_node : ros2 run urg_node urg_node_driver --ros-args --params-file path/to/my/file.yaml You can reconfigure parameters while the node is launched. For now, you can only reconfigure the following parameters: laser_frame_id error_limit default_user_latency angle_max angle_min cluster skip For example to reconfigure the cluster parameter using command line : ros2 param set /urg_node cluster 1 ### How to use the ust-20lx (and other Ethernet-based laser) To use ust-20lx you need to be on the same subnet as the laser. The ust-20lx default IP address is 192.168.0.10, so you might need to change your IP to something on the same subnet. File truncated at 100 lines see the full file ### Package Dependencies | Deps | Name | | --- | --- | | [](https://index.ros.org/p/ament_cmake/#humble-deps) | ament\_cmake | | [](https://index.ros.org/p/urdf/#humble-deps) | urdf | | [](https://index.ros.org/p/ament_lint_auto/#humble-deps) | ament\_lint_auto | | [](https://index.ros.org/p/ament_lint_common/#humble-deps) | ament_lint_common | | [](https://index.ros.org/p/builtin_interfaces/#humble-deps) | builtin_interfaces | | [](https://index.ros.org/p/diagnostic_updater/#humble-deps) | diagnostic_updater | | [](https://index.ros.org/p/laser_proc/#humble-deps) | laser_proc | | [](https://index.ros.org/p/rclcpp/#humble-deps) | rclcpp | | [](https://index.ros.org/p/rclcpp_components/#humble-deps) | rclcpp_components | | [](https://index.ros.org/p/rosidl_default_generators/#humble-deps) | rosidl_default_generators | | [](https://index.ros.org/p/sensor_msgs/#humble-deps) | sensor_msgs | | [](https://index.ros.org/p/std_srvs/#humble-deps) | std_srvs | | [](https://index.ros.org/p/urg_c/#humble-deps) | urg_c | | [](https://index.ros.org/p/urg_node_msgs/#humble-deps) | urg_node_msgs | ### System Dependencies | Name | | --- | | libboost-dev |