py_rs_driver

Unofficial python wrapper for RoboSense rs_driver.

Environment

• Ubuntu 20.04
• Python 3.8
• g++ 9.4.0
• cmake 3.16.3
• rs_driver (v1.5.4 or higher)

The wrapper works correctly on Ubunt20.04 and RS-LiDAR-M1 data. But, this does not mean "perfect"...

Usage

1. Install rs_driver(v1.5.4 or higher)

2. Build wrapper library

$ git clone https://github.com/nobu-e758/py_rs_driver
$ cd py_rs_driver
$ mkdir native/build && cd native/build
$ cmake .. && make
$ ls rs_driver_wrapper.cpython-38-x86_64-linux-gnu.so

3. Run sample

$ cd ../../
$ export PYTHONPATH=./native/build
$ (save .pcap file to ./_input/lidar.pcap)
$ python3.8 main.py

TODO

These methods are not yet implemented.

• LidarDriver::regPacketCallback(...)
• LidarDriver::decodePacket(...)