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Hokuyo URG-04LX LIDAR Driver for MATLAB

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Hokuyo URG-04LX LIDAR Driver for MATLAB

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15 May 2012 (Updated )

This a simple driver for the Hokuyo URG-04LX USB LIDAR for MATLAB.

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File Information
Description

The files establish a serial comm link with Lidar with the required settings. The function LidarScan.m is called with serial communication object as argument to return a range vector consisting of decoded Lidar Scan data.

It returns the data after a full scan (-120 to +120 degrees) with 682 points.

Edit SetupLidar.m with the correct COM Port to use this file.

The file is a quick and easy way to stream range data from a Hokuyo Lidar in the MATLAB environment.

It works well for the URG-04LX as the decoder function supports only two and three bit encoding.

Required Products MATLAB
MATLAB release MATLAB 7.10 (R2010a)
Other requirements Hokuyo URG-04LX Lidar
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Comments and Ratings (3)
25 Dec 2014 Tharindu Weerakoon

I am trying to use this matlab 2012a but it gives some warnings. I set the COM port properly and run the setupLidar program.

this is the output:

SetupLidar

Serial Port Object : Serial-COM4

Communication Settings
Port: COM4
BaudRate: 9600
Terminator: 'LF'

Communication State
Status: closed
RecordStatus: off

Read/Write State
TransferStatus: idle
BytesAvailable: 0
ValuesReceived: 0
ValuesSent: 0

Warning: Unsuccessful read: A timeout occurred before the Terminator was
reached.

ans =

SCIP2.0
0Ee

Warning: Unsuccessful read: A timeout occurred before the Terminator was
reached.

ans =

VV
00P
VEND:Hokuyo Automatic Co.,Ltd.;[
PROD:SOKUIKI Sensor URG-04LX;[
FIRM:3.3.00(16/Apr./2008);k
PROT:SCIP 2.0;N
SERI:H0611590;K

Warning: Unsuccessful read: A timeout occurred before the Terminator was
reached.

ans =

BM
02R

Can anyone give me the solution for this problem and instruction to print all scanned data points.

Thanking you.

25 Dec 2014 Tharindu Weerakoon  
20 Jun 2012 Jong Kim

Awesome~! Could you make it for Hokuyo UTM-30LX as well?

Updates
17 May 2012

Corrected a typo in the Lidar name. The Lidar is from Hokuyo and not Hokuyu.

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