The UST-10LX is a compact, lightweight 2D LiDAR sensor with high-speed, accurate measurement data in a 270° field-of-view up to 10 meters on an Ethernet interface.
The UST-20LX is the same form factor but measures up to 20m.
Both LiDARs exist in a -H01 version which have a higher resolution for detections.
See here for the procedure to change the IP address of your Hokuyo device.
Settings
| Property | Default | Description |
|---|---|---|
| Name | Hokuyo | User-friendly name. |
| IP | [empty] | Enter the IP address of your device. Your device and Modulo Player should be on the same subnet. |
| Port | 10940 | TCP/IP port used by the device. Do not change unless you know what you are doing. |
| Minimum points to create a Cluster | 2 | A cluster is a group of close points which have a position that will be tracked . This setting can help to reduce noise. |
| Cluster Expiration Time (ms) | 300 | Time before a cluster is dropped when it is not detected anymore. |
| Maximum Clustering Distance (mm) | 100 | Threshold for points close together to be considered as one cluster. |
| Tracking Move Threshold (mm) | 5 | Threshold under which movement is not considered movement but eliminated as noise. |
| Maximum Matching Distance (mm) | 600 | Threshold over which a cluster can’t be matched as being the same cluster after a movement. |
| Minimum Life time (ms) | 0 | Minimum time a cluster must exist before being considered a cluster. This setting can help to reduce noise from reflections. |
| Process noise covariance (mm) | 1.0 | Error expected on position evaluation. |
| Measure noise covariance (mm) | 5.0 | Error expected on position measurement. |
| Positioning Algorithm | Centroid | Method to describe the position of a cluster. ● Centroid: Computes the average of all point coordinates to define the cluster coordinates ● Nearest point: Defines cluster’s position at the coordinates of the cluster’s nearest point to the origin ● Nearest point centroid: Computes an average like centroid but by using the (maximum) 8 nearest points to the origin |
Setting up trigger zones
The interface underneath the settings of the LiDAR enable you to create different trigger zones that can be used as triggers for tasks.
Use the 
button to add zones and set (x,y) coordinates for the top left corner and width/height parameters according to the physical zone you would like to use as a trigger.
Task action
This device has no actions that can be set in a subtask.
Task trigger
When using this device as a trigger for a task, select the zone you would like to use to trigger the task when detections occur in the specified zone.
Refer to the above section for setting up trigger zones.
Digimap trigger
This device has no actions that can trigger a Digimap.
User interface
This device has no interface available in the UI Designer.
Device information
Go to the manufacturer website.
Changing the IP address
Go to Hokyo Japan’s website and Sign in. If you do not have an account, Sign up to create one.
Once connected to your Hokuyo account, go to the UST-10LX download page and download the IP Discovery and Address changing tool.
Download the tool, unzip it and install the IP Discovery tool with the contained installer.
Open the IP Discovery tool, select your computer’s network interface that is connected to the same network as the Hokuyo device and click Select.
The IP Discovery tool will scan the network and return a list of any compatible Hokuyo device it detects. Select your device from that list and click Configure All.
In the pop-up window for that device, set the IP address, Network mask and Gateway address that you wish to use. Then toggle the Write checkbox for the device you wish to change the address and select Configure.
For further information regarding IP Discovery, please refer to the PDF Manual contained in the ZIP with the installer.
Downloads
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