autorope / donkeycar

Open source hardware and software platform to build a small scale self driving car.
http://www.donkeycar.com
MIT License
3.17k stars 1.3k forks source link

Add support from Hokuyo lidar #1186

Open mgagvani opened 5 months ago

mgagvani commented 5 months ago

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: image IMG_8345 IMG_8347

mgagvani commented 5 months ago

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

mgagvani commented 4 months ago

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