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autorope / donkeycar

Open source hardware and software platform to build a small scale self driving car.
http://www.donkeycar.com
MIT License
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What is the command or code for using RPlidar and YDlidar? #944

Closed Choikyungho9 closed 3 years ago

Choikyungho9 commented 3 years ago

I'm using a Raspberry Pi 4B, and I did everything in the order listed in the DOCS.

# LIDAR
USE_LIDAR = True
LIDAR_TYPE = 'RP' #(RP|YD)
LIDAR_LOWER_LIMIT = 90 # angles that will be recorded. Use this to block out obstructed areas on your car and/or to avoid looking backwards. Note that for the RP A1M8 Lidar, "0" is in the direction of the motor
LIDAR_UPPER_LIMIT = 270

I checked all of this. But I can't check if the rider is being used. Please tell me how to use it in detail. DOCS is very un-explanatory.

Ezward commented 3 years ago

I don't believe there is a template that currently uses the Lidar. We do have parts, but they are not used by one of the supported templates. There is this issue to resolve that: https://github.com/autorope/donkeycar/issues/910 and work is being done in this branch https://github.com/autorope/donkeycar/tree/next-gen-lidar-parts . The goal is to integrate lidar into the standard 'complete' template in a way that uses the lidar to help determine steering and throttle. Ideally, it would be great to have a SLAM template that uses the lidar or perhaps integrate SLAM into the path_follow template. Perhaps that is a better use of Lidar than in the complete template. I'm currently working on integrating odometry, pose estimation and speed control into the complete and path_follow templates (issue https://github.com/autorope/donkeycar/issues/921 and branch https://github.com/autorope/donkeycar/tree/921-next-generation-odometer-parts). Once that is complete I can get back to the Lidar work.

Choikyungho9 commented 3 years ago

@Ezward Thank you for answer. i'm looking forward to the successful completion of the RP LiDAR integration. i'm also looking forward to support for YD Lidar.