Python3 driver and real-time scan viewer

[ryan-brazeal-ufl]

I have created a simple Python3 class object that can be used as a driver for the RPLidar sensors and/or it can be used as a real-time scan viewer on any computer (Windows, Mac, Linux). The viewer uses the PyGame library and does a good job (performance wise) of displaying the point cloud data stream. The user can navigate within the viewer to zoom, pan and rotate the point cloud view using either their mouse or keyboard. Additionally, a text-based (.csv) file is created that stores all the point cloud data, along with the scan (rotation) number, and return intensity (for standard scans).

[willstott101]

Nice job! Thanks for having a crack at this.

I'm not a contributor to this project, nor am I yet using an RPLidar, so feel free to ignore the following: It would be ideal for integrating into other projects if the Driver and Viewer were in separate Python modules. This would allow usage of the Lidar without the pygame dependency.

[yaoyannan1111]

Thanks very much for your job.
I encountered a problem in testing the code: when I use the function start_express_scan(), it worked well, but if I change to use the function start_standard_scan(),it could't receive scan data from the lidar. The radar model I use is A1M8 from SLAMTEC. Moreover, when I use serial debugging assistant, it worked normally in both modes(express_scan and standard_scan). I tried to debug the code and I found in the standard_scan mode when I send request message "A5 20", the serial can receive Initial response of "A5 5A 05 00 00 40 81", and then receive nothing. Do you know where the problem is？

[ryan-brazeal-ufl]

Hello, May I ask you to post your question here, https://github.com/ryan-brazeal-ufl/RPyLIDAR/issues, and I will do my best to help you out/address your question. Thanks, Ryan Brazeal P.Eng., P.Surv., PMP, Ph.D. Candidate, M.Sc., B.Sc. (Eng). [email protected]<mailto:[email protected]> 306-684-5151 On May 7, 2020, at 9:02 PM, yaoyannan1111 <[email protected]<mailto:[email protected]>> wrote: [External Email] Thanks very much for your job. I encountered a problem in testing the code: when I use the function start_express_scan(), it worked well, but if I change to use the function start_standard_scan(),it could't receive scan data from the lidar. The radar model I use is A1M8 from SLAMTEC. Moreover, when I use serial debugging assistant, it worked normally in both modes(express_scan and standard_scan). I tried to debug the code and I found in the standard_scan mode when I send request message "A5 20", the serial can receive Initial response of "A5 5A 05 00 00 40 81", and then receive nothing. Do you know where the problem is？ [standard_scan]<https://urldefense.proofpoint.com/v2/url?u=https-3A__user-2Dimages.githubusercontent.com_64999790_81365692-2D6998fd80-2D911b-2D11ea-2D900e-2D6b599916e74c.png&d=DwMFaQ&c=sJ6xIWYx-zLMB3EPkvcnVg&r=x4QCD5Mh4nqNLhitcFJ8BO05HLwuqP_WXgR2Rgfpg7E&m=R8wbWx3FRvXR7ZTdOJWqZZ10qBtaLFFgL1P4mItHF5w&s=Aq0vUVym2z8CgJ4OhbCNQbxcUUbUCoLAhfDg1bw14rM&e=> — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub<https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_Slamtec_rplidar-5Fsdk_pull_7-23issuecomment-2D625604001&d=DwMFaQ&c=sJ6xIWYx-zLMB3EPkvcnVg&r=x4QCD5Mh4nqNLhitcFJ8BO05HLwuqP_WXgR2Rgfpg7E&m=R8wbWx3FRvXR7ZTdOJWqZZ10qBtaLFFgL1P4mItHF5w&s=KWP6r4cAxuLXoP7u1hqDY1bwKpl8Znp9IJqZNk2HrZs&e=>, or unsubscribe<https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_AK5GF4ATALUMQMFK2BTXW73RQNY6BANCNFSM4GJQKQ5Q&d=DwMFaQ&c=sJ6xIWYx-zLMB3EPkvcnVg&r=x4QCD5Mh4nqNLhitcFJ8BO05HLwuqP_WXgR2Rgfpg7E&m=R8wbWx3FRvXR7ZTdOJWqZZ10qBtaLFFgL1P4mItHF5w&s=CyH2hLmNWoHLlkVc48o440O4g5S582wHzefGScaW1V8&e=>.

[NouriHuseynov]

Hi everyone,
if you read this post, it will significate that you want to communicate with LiDAR in order to integrate it to your project. So, I thinks that my work can interest you, check it at this link : https://github.com/NouriHuseynov/LiDAR_A1M8.git
BR,
Nouri Huseynov