Robot Operating System Cookbook

How it works…

Once the necessary packages and drivers are built and installed, we will connect the Hokuyo URG-04LX-UG01 to the computer using a USB cable and check whether it is detected or not:

$ ls -l /dev/ttyACM0

When the laser is connected, the system detects it, and the preceding command will show the following output:

crw-rw---- 1 root dialout 166, 0 May 14 12:06 /dev/ttyACM0 

Note that our case system has created the node /dev/ttyACM0; it could be /dev/ttyACMX for any other system.

In some cases, we have to reconfigure the laser device node to provide access permission. By default, it only has root permission:

$ sudo chmod a+rw /dev/ttyACM0

Once everything is good to go, we will switch on the Hokuyo URG-04LX-UG01 device and start ...