Add support from Hokuyo lidar #1186
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Ezward
requested changes
Jun 15, 2024
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Thank you for this PR. It would be great to be able to use the Lidar on an F1Tenth car. The the code looks very good; I have left a few comments. There are other concerns:
- is there a parallel PR for the docs? Without documentation on how to setup the Lidar the software is not that useful and it becomes a maintenance burden. Links out to reliable, stable content can do most of the work. It would also be great to have a video of the webui output.
- we should also mention in the camera section of the docs about how to setup the 'camera' to be the lidar scan. That is a really good idea.
- we should rebase/squash these two commits into a single commit.
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Thanks @Ezward for the review, I'll probably get to the fixes/writing docs in a week or so. |
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Hi @Ezward I addresssed your review and made a PR for documentation: autorope/donkeydocs#56 |
DocGarbanzo
reviewed
Jul 7, 2025
| outputs=['cam/image_array', 'cam/depth_array', | ||
| 'imu/acl_x', 'imu/acl_y', 'imu/acl_z', | ||
| 'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], | ||
| threaded=False) |
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This should be left a threaded part.
DocGarbanzo
reviewed
Jul 7, 2025
donkeycar/parts/lidar.py
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| # show the image in the window | ||
| cv2img = convert_from_image_to_cv2(img) | ||
| cv2.imshow("lidar", cv2img) | ||
| # cv2img = convert_from_image_to_cv2(img) |
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Pls remove commented code.
…nd donkeycar/templates/complete.py
DocGarbanzo
requested changes
Jul 7, 2025
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@DocGarbanzo should be good now. |
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lidar.pyto interface with HokuyoLidarPlot2to be used with Hokuyo so it can act as aCamerain the web interfaceLidarPlot2with existing templates/configsNotes:
To set it up you need to configure the Ethernet port on the Pi by creating a file in
/etc/interfaces.d. This is well-described by many online tutorials, and googling "f1tenth hokuyo" also brings up a lot of helpful info.Also, unlike the RPLidar(2) parts, instead of returning a generator of individual measurements this part returns the entire scan at once. Thus in
complete.pyit is calledlidar/dist_scaninstead oflidar/dist_array.Pictures:
