urg-unity

URG a.k.a. Sokuiki sensor (測域センサー) library for Unity written in pure C#. This library conforms to [SCIP 2.0 protocol]https://www.hokuyo-aut.co.jp/dl/URG_SCIP20_1431403739.pdf.

Install

Install via UPM package

You can add https://github.com/curiosity-inc/urg-unity.git?path=Packages/jp.curiosity-inc.urg-unity to Package Manager.

Note that, in API compatibility level, you need to specify .NET Framework rather than .NET Standard 2.1 because System.IO.Ports library is required.

Get started with your scene.

1 (a) If you can find your sensor name under Prefabs folder, just drag'drop it to your scene.

1 (b) If you cannot find existing prefab, you can attach necessary componenets to utilize your sensor. Attach Scripts/UrgSensor and Scripts/Transport/EthernetTransport (If your sensor is compatible with Ethernet) or Scripts/Transport/SerialTransport (If your sensor is compatible with RS232 over USB) to your GameObject.

2 Refer Example/DebugRenderer to how to get distances (The main part is copied and pasted below).

        void Awake()
        {
            urg.OnDistanceReceived += Urg_OnDistanceReceived;
        }

        void Update()
        {
            if (urg != null)
            {
                if (distances != null && distances.Length > 0)
                {
                    for (int i = 0; i < distances.Length; i++)
                    {
                        float distance = distances[i];
                        float angle = urg.StepAngleRadians * i + urg.OffsetRadians;
                        var cos = Mathf.Cos(angle);
                        var sin = Mathf.Sin(angle);
                        var dir = new Vector3(cos, sin, 0);
                        var pos = distance * dir;

                        Debug.DrawRay(urg.transform.position, pos, Color.blue);
                    }
                }
            }
        }

        private void Urg_OnDistanceReceived(float[] distances)
        {
            // this.distances = distances;
            this.distances = Utils.MedianFilter<float>(distances);
        }

License

MIT License.