Setup

Hardware

Use a microUSB data cable to connect the LIDAR to the microcomputer. ls /dev and look for ttyUSB0. If TTYUSB0 is not shown, use sudo lsusb. If Cygnal Integrated Products is shown it is connected. If not, the cable may be a power not data cable.

Software

Install the RPLidar using pip

> pip install rplidar

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Usage

Once installed via pip, import into python

>>> from rplidar import RPLidar

Create instance of RPLidar object

>>> lidar = RPLidar('/dev/ttyUSB0')

To get the status of the LIDAR, use lidar.get_health() To get info of the LIDAR including model, firmware version, and serial number, use lidar.get_info()

lidar.stop() stops scanning and disables the laser putting the system into an idle state.

lidar.reset() resets the sensor and puts it into a state similar to startup

lidar.iter_measurements(max_buf_meas) and lidar.iter_scans(max_buf_meas,min_len) create generators with a default buffer length of 500. lidar.iter_measurements(max_buf_meas) iterates individual measurements and lidar.iter_scans(max_buf_meas,min_len) iterates over a scan with a default minimum of stored measurements within a single scan of 5.

Example

from rplidar import RPLidar

lidar = RPLidar('/dev/ttyUSB0')

info = lidar.get_info()

print(info)

health = lidar.get_health()

print(health)

for i, scan in enumerate(lidar.iter_scans()):

... print('%d: Got %d measurments' % (i, len(scan)))

... if i > 10:

... break

lidar.stop()

lidar.stop_motor()

lidar.disconnect()