FastPyRPLidar

This library is a compatibility layer between the Slamtek C++ SDK and Python. It exposes:

• class Lidar:
  • methods:
    • start_motor
    • stop_motor
    • reset
    • get_scanline_xy
    • get_scanline
    • get_health
  • properties:
    • serial_number
    • firmware_version
    • hardware_version
    • mac address
• enum Result_Code
  • OK
  • FAIL_BIT
  • ALREADY_DONE
  • INVALID_DATA
  • OPERATION_FAIL
  • OPERATION_TIMEOUT
  • OPERATION_STOP
  • OPERATION_NOT_SUPPORT
  • FORMAT_NOT_SUPPORT
  • INSUFFICIENT_MEMORY
  • UNKNOWN
• enum Status_Code
  • OK
  • WARNING
  • ERROR
  • UNKNOWN
• class Lidar_Scan
  • properties:
    • angle (degrees)
    • distance (meters)
    • quality (range[0,255])
• class Point
  • properties:
    • x (meters from lidar)
    • y (meters from lidar)
    • quality (range[0,255])

Requirements

• C++ compiler (GCC) reccomended
• Building Documentation requires Sphinx

Installation

• Manual:
  1. Download this repository
  2. Navigate to the top level of the repository
  3. Execute pip install ./
• Pip and git installed:
  1. pip install git+https://github.com/Cardinal-Space-Mining/FastPyRPLidar.git
• Only pip installed
  1. pip install https://github.com/Cardinal-Space-Mining/FastPyRPLidar/tarball/master

Documentation

1. Download this repository
2. Navigate to the docs folder
3. Execute make html
4. Documentation files are in .\docs_build

Troubleshooting

1. Lidar refuses to connect (Linux):
   • Try sudo chmod a+rw /dev/ttyUSB0 (or whatever USB device you are using). Your OS may be blocking access to the USB device.
2. Lidar connection times out during constructor with the message Could not retrieve device data during connection or Could not connect to Lidar
   • Try sudo chmod a+rw /dev/ttyUSB0 (or whatever USB device you are using). Your OS may be blocking access to the USB device.
   • Validate that the Lidar is getting at least 4A of USB current. 2A @ 5V from barrel jack and 2A @5V from USB in.