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apt-get install libsdl1.2-dev libboost-all-dev liburg0-dev urg-utils
g++ monprogramme.cpp -Wall -Werror `urg-config --cflags` `sdl-config --cflags` `urg-config --libs` `sdl-config --libs` -lc
http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/
https://gist.github.com/1976603