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The Hokuyo URG-04LX-UG01 Scanning Laser Rangefinder is a small, affordable and accurate laser scanner that is perfect for robotic applications. The URG-04LX-UG01 is able to report ranges from 20 mm to 5600 mm (1 mm resolution) in a 240° arc (0.36° angular resolution). Its power consumption, 5 V 500 ma, allows it to be used on battery operated platforms. It is best for students and researchers who are involved in robotics.

Here, it comes with a 3D-printed adapter to mount the lidar on the top mounting plate of the Leo Rover, and with a miniUSB-USB and USB-miniUSB adapters to connect it to the top miniUSB connector.

See the integration tutorial in the Leo Rover Knowledge Base:


• Power source: 5VDC±5 (USB Bus power)
• Light source: Semiconductor laser diode(785nm), Laser safety class 1
• Measuring area: 20 to 5600 mm (white paper with 70 mm×70 mm), 240°
• Accuracy: 60 to 1,000 mm : ±30 mm, 1,000 to 4,095 mm : ±3 of measurement
• Angular resolution: Step angle : Approx. 0.36°(360°/1,024 steps)
• Scanning time: 100ms/scan
• Noise: 25dB or less
• Interface: USB2.0/1.1[Mini B](Full Speed)
• Command System: SCIP Ver.2.0
• Ambient illuminance*1: Halogen/mercury lamp: 10,000Lux or less, Florescent: 6000Lux(Max)
• Ambient temperature/humidity: -10 to +50 degrees C, 85% or less (Not condensing, not icing)
• Vibration resistance: 10 to 5 5Hz, double amplitude 1.5 mm each 2 hour in X, Y and Z directions
• Impact resistance: 196 m/s2, Each 10 time in X, Y and Z directions
• Weight: Approx. 160 g

Link to the manufacturer's site:

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