Add support from Hokuyo lidar

mgagvani commented 3 weeks ago

Part in lidar.py to interface with Hokuyo
Fixes to LidarPlot2 to be used with Hokuyo so it can act as a Camera in the web interface
Integration of LidarPlot2 with existing templates/configs

Notes: 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.py it is called lidar/dist_scan instead of lidar/dist_array.

Pictures:

mgagvani commented 2 weeks ago

Thanks @Ezward for the review, I'll probably get to the fixes/writing docs in a week or so.

mgagvani commented 1 day ago

Hi @Ezward I addresssed your review and made a PR for documentation: https://github.com/autorope/donkeydocs/pull/56

autorope / donkeycar

Add support from Hokuyo lidar #1186