URG3D Library

About this software: This software have been developed to provide a library to use 3D scanning range sensors of Hokuyo Automatic Corporation. Samples will help to know how to use them.

Cautions! This library support ILP32 or LLP64 or LP64. These "int" type is 32bit.

Author: Akira Oshima (Doog Inc.) software@doog-inc.com Takeshi Aoki (Hokuyo Automatic Co., Ltd.) aoki@hokuyo-aut.co.jp Kristou Mehrez (Hokuyo Automatic Co., Ltd.) kristou@hokuyo-aut.jp Kiyoshi Matsuo (Hokuyo Automatic Co., Ltd.) k-matsuo@hokuyo-aut.co.jp Jun Fujimoto (Hokuyo Automatic Co., Ltd.) j_fujimoto@hokuyo-aut.co.jp HUANG da (Hokuyo Automatic Co., Ltd.) d-huang@hokuyo-aut.co.jp

License: (C)Simplified BSD License. See COPYRIGHT file.

Community site: 3D-URG User's Group (English): https://groups.google.com/forum/?hl=ja#!forum/3d-urg-users-group https://sites.google.com/site/3durgusersgroup/

3D-URG User's Group (Japanese): https://groups.google.com/forum/?hl=ja#!forum/3d-urg-users-group-jp https://sites.google.com/site/3durgusersgroupjp/

URG Network http://sourceforge.net/projects/urgnetwork/

Library usage:

Visual Studio Solution (Windows)

Build the static library "urg3d.lib" with urg3d_library-X.X.X/vs201*/urg3d.sln. (Visual studio 2010 project and visual studio 2012 project exist.)

Sample solutions that use urg3d.lib exist in urg3d_library-X.X.X/vs201*/. Each sample can be tested on the above visual studio project if it is set as the startup project.

Visual Studio bat compile (Windows)

Copy vsvars32.bat to urg3d_library-X.X.X/windowsexe. Execute urg3d_library-X.X.X/windowsexe/compile.bat to generate the static library urg3d.lib and samples.

(If you want to clear created files, you can use urg3d_library-X.X.X/windowsexe/cleanobj.bat.)

gcc (Linux, MinGW)

Type "make" to compile the static library "liburg3d.a" and the shared library "liburg3d.so". If the compilation is successful, these libraries are created in urg3d_library-X.X.X/src/.

(If you want to install the library to your system, execute "make install" as root.)

Example programs exist in urg3d_library-X.X.X/samples.

Header and Source List:

urg3d_connection.h, urg3d_connection.c

functions to handle communication with urg sensor (serial/ethernet)

urg3d_detect_os.h

header to detect OS type

urg3d_errno.h

header for error code

urg3d_ring_buffer.h, urg3d_ring_buffer.c

functions to handle ring buffer

urg3d_tcpclient.h, urg3d_tcpclient.c

functions to handle ethernet communication

urg3d_ticks.h, urg3d_ticks.c

functions to handle timer

urg3d_sensor.h, urg3d_sensor.c

functions to handle VSSP on TCP/IP