Hokuyo LiDAR interfaced with Arduino Mega 2560 board

Successfully interfaced Arduino Mega 2560 with Hokuyo URG-04LX-UG01 LiDAR using a USB Host Shield 2.0 from Circuits @ Home....the LiDAR gives the device descriptors fine....next step is to send the VV commands and receive info from LiDAR using other USB library functions.....


I'll mount this lidar on ardupilot mega quad once this is done....planning to send lidar data to GCS via XBee....


So the modules connect like this:


LiDAR -> USB Host Shield -> Arduino Mega 2560 (on quad) -> Xbee -> GCS -> ROS

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3D Robotics
Comment by Chris Anderson on November 19, 2011 at 8:12am

Cool! (If only it didn't cost $1,200...)

Comment by Vincent Mees on November 19, 2011 at 8:49am

what about this?

Comment by Mike on November 19, 2011 at 9:24am

Are you using it for aircraft navigation or survey (if the latter what RTK will you use?)


Comment by Anant Rao on November 19, 2011 at 10:27am

I'll be using it for building 2D maps (on GCS) to aid path planning....so yes, end usage is aircraft navigation....

Comment by Anant Rao on November 19, 2011 at 10:30am

unfortunately the cheapest 2D Lidars still cost above $1000 bucks......i saw the neato hack project though...do u guys have any idea of which part of LiDAR makes it cost more....?? the laser module, rotation servos, triangulation arrangement, cmos camera, processor.....none of these added together i guess would make it more than $100....

Comment by Bruno Amui on November 19, 2011 at 11:59am

It depends on the quality of the system, but there are complex RF parts on the design. Everything has to be designed to the best linearity. The processing power inside the module has to be quite great. But mostly the price is in engineering. You will spend years in research, paying PHDs to develop a really complex system that will not sell millions. It is going to cost a lot. 

Comment by bGatti on November 19, 2011 at 12:02pm

Sounds like an Open Source project dying to get started.


Comment by Randy on November 19, 2011 at 7:43pm


Coincidentally, I actually happened to get my hands on one of these as well although I have the classic URG-04LX that is apparently a whopping $2300.  The advantage of this version is that it has a serial interface but I guess to save $500, using the usb host shield is a darn good idea.


I'm very interested to see how you're going to mount it on the arducopter.  I was thinking of making a 3d printed mount.


One challenge is that it's 270 degress, not 360 so for object avoidance you would still need a rear facing sonar (or you need to turn around every now and then to be sure you're not backing into anything!)

Comment by Anant Rao on November 19, 2011 at 8:42pm

In our project, we're first using LiDAR as a map-building unit, and an aid for navigation. We'll be using the on-board GPS and IMU in first pass; if things go good, we'll try for navigation in GPS-denied environment...

Comment by Anant Rao on November 19, 2011 at 8:45pm

Randy, we're planning to build a cage on top of quad that holds the LiDAR.....not started work on it, but will post pics once we've made some progress....the angle challenge is real....yet to figure that one out....working on the electronics only yet....

Also, the UG01 model is $1200...(that's around $1100 lesser than classical model...:))




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