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libhokuyo_aistHokuyo URG laser scanner driver.
|Hokuyo laser scanner driver name space. |
Utility to get the serial number of an Hokuyo laser scanner driver.
This library provides a driver for Hokuyo laser scanner devices using the SCIP protocol version 1 or 2. It has been tested with the Hokuyo URG-04LX, UBG-04LX, UHG-08LX, UTM-30LX and UXM-30LX-E but it should work with any scanner that conforms to these protocol versions, including the URG-04LX-F01 and the URG-04LX-UG01 (Simple-URG).
For a full list of classes and functions, see hokuyo_aist.
If this library is compiled as static on Windows, you must define the
HOKUYO_AIST_STATIC preprocessor variable when compiling code that includes hokuyo_aist.h.
It is useful to write udev scripts to create permanent symlinks to your lasers, in the case you have more than one laser. Acutally iy would be easier if the serial number were provided by hardware as a udev attribute, but it is not. So, this small soft must be called to find the serial number, in order to discriminate between various laser scanners.
The file 96-hokuyo.rules should be copied to /etc/udev/rules.d, and then the udev deamon should be restarted with:
sudo /etc/init.d/udev stop sudo /etc/init.d/udev start
Attention: use stop and start instead of only restart. It appears that the restart script does not reload the rules. You should see a message about reloading hardware drivers when the start command is issued.
Afterwards when a hokuyo is plugged, the device /dev/ttyACM* will be generated as before, but besides that a symbolic link called hokuyo_XXXXXX will be generated, where XXXXX is the laser serial number.