unified_frameworks.sensor_array.lidar package
Submodules
unified_frameworks.sensor_array.lidar.LidarClass module
- exception unified_frameworks.sensor_array.lidar.LidarClass.LidarDisconnectException
Bases:
Exception
unified_frameworks.sensor_array.lidar.actual_lidar module
- class unified_frameworks.sensor_array.lidar.actual_lidar.ActualLidar(port=None)
Bases:
_Lidar- connect(max_attempts=3, wait_seconds=1, verbose_attempts=False) bool
Make attempts to connect to the Lidar
Parameters
max_attempts: Number of attempts to make wait_seconds: Seconds to wait between each attempt
Returns
True if connection is made
- connect_to_RPLidar(max_attempts=3, wait_seconds=1, verbose_attempts=True) bool
- disconnect()
Disconnect from the Lidar
- get_measures()
Get measures from the lidar as a list of 3-tuples (quality, angle degrees, distance millimeter)
- unified_frameworks.sensor_array.lidar.actual_lidar.getDevicePort()
unified_frameworks.sensor_array.lidar.bridge_lidar module
- class unified_frameworks.sensor_array.lidar.bridge_lidar.BridgeLidar
Bases:
_Lidar- PATH = '/lidar'
- connect(max_attempts=3, wait_seconds=1, verbose_attempts=False) bool
Make attempts to connect to the Lidar
Parameters
max_attempts: Number of attempts to make wait_seconds: Seconds to wait between each attempt
Returns
True if connection is made
- disconnect()
Disconnect from the Lidar
- get_measures()
Get measures from the lidar as a list of 3-tuples (quality, angle degrees, distance millimeter)
unified_frameworks.sensor_array.lidar.fake_lidar module
This file is meant to be a fake lidar script that should be a drop in replacement to the actual RPLidar I think making this will help in testing an optimizing the lidar scripts
- class unified_frameworks.sensor_array.lidar.fake_lidar.FakeLidar(points=100, angular_rate=1, translational_rate=1, jitter=0, noise=0, empty_scans=False)
Bases:
_Lidar- connect(max_attempts=3, wait_seconds=1, verbose_attempts=True) bool
Make attempts to connect to the Lidar
Parameters
max_attempts: Number of attempts to make wait_seconds: Seconds to wait between each attempt
Returns
True if connection is made
- disconnect()
Disconnect from the Lidar
- get_measures()
Get measures from the lidar as a list of 3-tuples (quality, angle degrees, distance millimeter)
unified_frameworks.sensor_array.lidar.lidar module
- class unified_frameworks.sensor_array.lidar.lidar.Lidar(preference=[<class 'sensor_array.lidar.actual_lidar.ActualLidar'>, <class 'sensor_array.lidar.bridge_lidar.BridgeLidar'>, <class 'sensor_array.lidar.fake_lidar.FakeLidar'>])
Bases:
_Abstract_Service- get_obstacles(thresh=1)
Get a list of obstacles where each obstacle is a point cloud of the obstacle
- Parameters:
thresh – Points closer than the threshold distance are grouped in the same obstacle
- get_point_clouds()
Get a list of point Clouds of from the previous few Lidar scans. Each point cloud is a list of
(radians, meters)
- start_service()
Connect to the Lidar and start scanning
- stop_service()
Stop scanning and disconnect from the lidar
- exception unified_frameworks.sensor_array.lidar.lidar.NoLidarException(*args: object)
Bases:
Exception