URGBenri Standard (formerly URG Benri): Essential Guide & Overview

URGBenri Standard (previously distributed under variants like URG Benri Plus) is a specialized data viewing, recording, and playback software developed by ⁠Hokuyo Automatic Co. specifically for their URG-series LiDAR scanning laser rangefinders. Core Purpose

The software acts as the primary visual interface for Hokuyo LiDAR hardware. It acquires raw distance and angle data sent via Hokuyo’s communication protocols (such as SCIP 2.x) and translates it into interactive visual maps. Key Features

Waveform and Coordinate Plotting: Plots LiDAR sensor distance points directly onto 2D X and Y Cartesian coordinates. It displays the readings as waveform data to make physical obstacles easily identifiable.

Data Logging & Playback: Captures real-time sensor scans and saves them locally. Recorded data is saved in Hokuyo’s proprietary *.ubh file format, which can be loaded back into the software later for frame-by-frame analysis.

Multi-Interface & Sensor Support: The standard/plus version allows developers to connect and display multiple LiDAR sensors simultaneously across separate interfaces.

Multi-Echo Visualization: For advanced sensors capable of reading multiple laser reflections (echoes) from a single pulse, the software allows custom color-coding to easily separate layered environmental data.

Plugin-Based Architecture: Features a modular layout that developers can customize or extend with plugins depending on their specific robotics or mapping workflows. System & License Overview

OS Compatibility: Officially built and optimized for Windows OS environments.

Licensing: Distributed under a permissive open-source BSD License, allowing research labs and commercial enterprises to adapt it freely.

Target Audience: Primarily utilized by robotics engineers, academic researchers, and R&D startups who use Hokuyo hardware for indoor SLAM (Simultaneous Localization and Mapping), autonomous vehicle path planning, and obstacle detection.

If you are setting up the software for a project, would you like guidance on connecting a specific Hokuyo sensor model (like the URG-04LX or UST series) or troubleshooting driver installation and COM port configuration? A Short Introduction to the GRI Standards