LiDAR Driver

The LiDAR Driver in the obstacle avoidance repository is specifically designed for the Lightware SF45/b LiDAR that WARG owns. The driver allows two-way communication between the LiDAR and a computer. Use this driver to configure the LiDAR’s settings including minimum/maximum angle, rotation speed, and output frequency.

Usage:

1. connect the lidar to a serial port on the computer.

2. get the port name and baudrate.

3. initialize an instance of the LidarDriver class.

import lidar_driver
lidar = LidarDriver(lidar_serial_port_name, baudrate, timeout)

4. configure settings

self.lidar.set_update_rate(lidar.serial_port, update_rate)
self.lidar.set_default_distance_output(lidar.serial_port)
self.lidar.set_low_angle(lidar.serial_port, low_angle)
self.lidar.set_high_angle(lidar.serial_port, high_angle)
self.lidar.set_speed(lidar.serial_port, rotate_speed)

note: update rates follow the following chart

5. enable output streaming

lidar.set_distance_stream_enable(lidar.serial_port, True)

6. get lidar readings

distance, angle = lidar.wait_for_reading(lidar.serial_port)