SkoltechRobotics / rplidar

Python module for RPLidar A1 and A2 rangefinder scanners

RPLidar

Simple and lightweight Python module for working with RPLidar rangefinder scanners.

This module aims to implement communication protocol with RPLidar rangefinder scaners. It's Python 2 and 3 compatible, but was mainly tested using Python 3.

For protocol specifications please refer to the slamtec document.

Installing

You can install rplidar using pip:

$ pip install rplidar

Or for Python 3:

$ sudo pip3 install rplidar

Documentation

View the latest rplidar documentation at http://rplidar.rtfd.org/.

Usage example

Simple example:

from rplidar import RPLidar
lidar = RPLidar('/dev/ttyUSB0')

info = lidar.get_info()
print(info)

health = lidar.get_health()
print(health)

for i, scan in enumerate(lidar.iter_scans()):
    print('%d: Got %d measurments' % (i, len(scan)))
    if i > 10:
        break

lidar.stop()
lidar.stop_motor()
lidar.disconnect()

In addition to it you can view example applications inside examples directory.