micus / hokuyolx

A Python module for Hokuyo laser scanners (UST-10LX, UST-20LX, UST-30LX)

Hokuyo LX

A Python module for working with Hokuyo LX laser scanners.

Introduction

This module aims to implement communication protocol with Hokuyo laser rangefinder scaners, specifically with the following models: UST-10LX, UST-20LX, UST-30LX. It was tested only with UST-10LX but should work with others as well. It's Python 2 and 3 compatible but was mainly tested using Python 3.

For protocol specifications please refer to the following documents:

• http://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/UTM-30LX-EW_protocol_en.pdf
• https://www.hokuyo-aut.jp/02sensor/07scanner/download/pdf/UST_protocol_en.pdf

Installing

You can install hokuyolx using pip:

$ sudo pip install hokuyolx

Or for Python 3:

$ sudo pip3 install hokuyolx

Documentation

View the latest hokuyolx documentation at http://hokuyolx.rtfd.org/.

Usage example

Simple example:

>>> from hokuyolx import HokuyoLX
>>> laser = HokuyoLX()
>>> timestamp, scan = laser.get_dist() # Single measurment mode
>>> # Continous measurment mode
>>> for timestamp, scan in laser.iter_dist(10):
...     print(timestamp)

In addition to it you can view example applications inside examples directory.