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165 changes: 165 additions & 0 deletions Lidar/index.html
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<h1 id="lidar">Lidar</h1>
<h2 id="ust-10lx-basics">UST-10lx basics</h2>
<p><img src="../img/UST-10lx.jpg" alt="an image showing a UST-10lx with an orange top. We can read Hokuyo Smart Urg underneath" title="A UST-10lx Lidar" width="200" align="right"/></p>
<p>Les Lidar utiliser par INTech sont des <a href="https://www.hokuyo-aut.jp/search/single.php?serial=167">UST-10LX</a> concu et vendu par Hokuyo.<!-- Ce sont des lidar haut performance. --> Une documentation non officel (mais plutot complete existe <a href="https://sourceforge.net/p/urgnetwork/wiki/Home/">ici</a>).</p>
<p>Il communique par Ethernet en utilisant le protocole <a href="https://en.wikipedia.org/wiki/Secure_Communications_Interoperability_Protocol">Secure Communications Interoperability Protocol (SCIP)</a>. Ce protocol peut faire peur a premiere vue mais nous n'utilison que les commande decrit <a href="https://sourceforge.net/p/urgnetwork/wiki/scip_en/">ici</a>. Pour communiquer par ethernet, les lidar possede une adresse IP: </p>
<pre><code>192.168.0.10:10940/24
</code></pre>
<p>Il faut donc choisir une adresse ip dans le bon sous-resaux. Nous avons arbitrairement choisi:</p>
<pre><code>192.168.0.11
</code></pre>
<h2 id="using-hokuyoreader-class">Using HokuyoReader class</h2>
<p>Create the class instance with</p>
<pre><code class="language-python">sensor = HokuyoReader(IP, PORT)
</code></pre>
<p>use <code>HokuyoReader.stop()</code> to get rid of any leftover data or problems from an improper shutdown and start mesuring with <code>HokuyoReader.startContinuous(0, 1080)</code> with 0 and 1080 the steps that are mesured</p>
<pre><code class="language-pyhton">sensor.stop()
sensor.startContinuous(0, 1080)
</code></pre>
<p>Distances can be retrived as a numpy array with the <code>HokuyoReader.rDistance()</code> (r standing for radial)</p>
<pre><code class="language-python">distance_array=sensor.rDistance()
</code></pre>
<p>Use <code>HokuyoReader.stop()</code> to gracefully shutdown the lidar</p>
<pre><code class="language-pyhton">sensor.stop()

</code></pre>

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