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====== Interfacing of HOKUYO URG 04LX with MATLAB ======

The main goal of this tutorial is to interface the HOKUYO URG 04LX with MATLAB for the understanding of basic commands.

''**HOKUYO URG 04LX**'' 

The Hokuyo URG 04LX is a 2D  low cost, small and accurate laser finder that is perfect suitable for the robotics applications. It has 240 degree arc with 0.36 angular revolution and also able for the detection range from 20mm to 5600mm. It is compatible with serial as well as USB communication both.

**Power Consumption for the HOKUYO URG:**

Voltage : 5 Volt

Current : 500 mA

**//It is allowed to use with battery operated platforms//** 

''**Hardware Components**''

**HOKUYO URG 04LX** 

{{ :dsc_0093.jpg?200 |}}

**USB CONNECTOR**

{{ :dsc_00931.jpg?200 |}}

''**Interfacing of HOKUYO URG with UrgBenri Plus**''

**Download the Software** : [[https://sourceforge.net/projects/urgbenri/]]

**Configure with the software**

    Change the COM Port (according to the connected port)
    Click the connectivity button
    Device is connected and ready to see!!

**Screenshot for PORT** 
   
      
         {{ :screen1.jpg? |}}
         
         
**Output Window**

           
{{ :screen2.jpg |}}


''**Interfacing of HOKUYO URG with MATLAB**''

The main procedure behind the implementation is as follow: 

1. Configuration of LiDAR with initialization Commands

2. Read the data from the LiDAR

3. Decode the Data into mm 

4. Plot this points on the Graph


**Configuration of LiDAR with initialization Commands**

Initialization Commands -- (Default Baudrate for Hokuyo is: 19200)

{{ :initialization.jpg |}}


Read the data from the LiDAR

{{ :read.jpg |}}


Decode Data for LiDAR

{{ :decode.jpg |}}

GUI for the decode Data

{{ :gui.jpg |}}

**OUTPUT from MATLAB**

Command Window output

{{ :command_window_output.jpg |}}


GUI output

{{ :out11.jpg |}}

**Final Word**

If you have any query please feel free to ask at vikrampuri03@gmail.com