Lidar
Les Lidar utiliser par INTech sont des UST-10LX concu et vendu par Hokuyo. Une documentation non officel (mais plutot complete [existe ici])(https://sourceforge.net/p/urgnetwork/wiki/Home/). Le manuel du l'UST-10lx est télécharchable ici
UST-10lx connectivity
Il communique par Ethernet en utilisant le protocole Secure Communications Interoperability Protocol (SCIP). Ce protocol peut faire peur a premiere vue mais nous n'utilison que les commande decrit ici. Pour communiquer par ethernet, les lidar possede une adresse IP:
192.168.0.10:10940/24
Il faut donc choisir une adresse ip dans le bon sous-resaux. Nous avons arbitrairement choisi:
192.168.0.11
UST-10lx specs
Spec | Value | Unit |
---|---|---|
Min distance | 20 | mm |
Max distance | 30000 | mm |
Accuracy | ±40 | mm |
Scan angle | 270 | ° |
Angular resolution | 0.25 | pt/° |
Angular resolution | 1440 | pt/tr |
Scan rate | 40 | Hz |
Poids | 130 | g |
Voltage | 10-30 | VDC |
Current @24VDC | 150 (450 at startup) | mA |
Using HokuyoReader class
This class is from micus/tcp_hokuyo.py This class is simpler than hokuyolx
Create the class instance with
sensor = HokuyoReader(IP, PORT)
use HokuyoReader.stop()
to get rid of any leftover data or problems from an improper shutdown and start mesuring with HokuyoReader.startContinuous(0, 1080)
with 0 and 1080 the steps that are mesured
sensor.stop()
sensor.startContinuous(0, 1080)
Distances can be retrived as a numpy array with the HokuyoReader.rDistance()
(r standing for radial)
distance_array=sensor.rDistance()
Use HokuyoReader.stop()
to gracefully shutdown the lidar
sensor.stop()
Using Hokuyolx class
This class comes from SkoltechRobotics/hokuyolx. This class has considerably more options than HokuyoReader but is more complicated to understand. This class is documented at http://hokuyolx.rtfd.org/. As of 12/12/24 it doesn't work out off the box and we use HokuyoReader