pyrplidarsdk 0.1.1

Python wrapper for RPLIDAR SDK using nanobind

PyRPLIDARSDK

Python wrapper for the Slamtec RPLIDAR SDK using nanobind.

This package provides a high-performance Python interface to RPLIDAR series laser range scanners, supporting both serial and UDP connections.

Installation

From PyPI

pip install pyrplidarsdk

From Source

# Clone the repository with submodules
git clone --recursive https://github.com/dexmate-ai/pyrplidarsdk.git
cd pyrplidarsdk

# Install in development mode
pip install -e .

Quick Start

Serial Connection

import pyrplidarsdk
import time

# Create driver instance for serial connection
driver = pyrplidarsdk.RplidarDriver(port="/dev/ttyUSB0")

# Connect to the device
if not driver.connect():
    print("Failed to connect!")
    exit(1)

# Get device information
info = driver.get_device_info()
if info:
    print(f"Connected to RPLIDAR model {info.model}")
    print(f"Firmware: {info.firmware_version}")
    print(f"Hardware: {info.hardware_version}")
    print(f"Serial: {info.serial_number}")

# Check device health
health = driver.get_health()
if health:
    print(f"Device health: {health.status}")

# Start scanning
if driver.start_scan():
    print("Scanning started...")
    
    try:
        for i in range(10):  # Get 10 scans
            scan_data = driver.get_scan_data()
            if scan_data:
                angles, ranges, qualities = scan_data
                print(f"Scan {i+1}: {len(angles)} points")
            time.sleep(0.1)
    finally:
        driver.stop_scan()
        driver.disconnect()

UDP Connection

import pyrplidarsdk

# Create driver instance for UDP connection
driver = pyrplidarsdk.RplidarDriver(ip_address="192.168.1.100")

# Rest of the code is the same...

API Reference

RplidarDriver

Main class for controlling RPLIDAR devices.

Constructor

RplidarDriver(port=None, ip_address=None, baudrate=1000000, udp_port=8089)

• port (str, optional): Serial port path (e.g., "/dev/ttyUSB0", "COM3")
• ip_address (str, optional): IP address for UDP connection
• baudrate (int): Serial baudrate (default: 1000000)
• udp_port (int): UDP port (default: 8089)

Methods

• connect() -> bool: Connect to the device
• disconnect(): Disconnect from the device
• get_device_info() -> DeviceInfo | None: Get device information
• get_health() -> DeviceHealth | None: Get device health status
• start_scan() -> bool: Start laser scanning
• stop_scan(): Stop laser scanning
• get_scan_data() -> tuple[list[float], list[float], list[int]] | None: Get scan data

DeviceInfo

Device information structure.

• model (int): Device model number
• firmware_version (int): Firmware version
• hardware_version (int): Hardware version
• serial_number (str): Device serial number (hex string)

DeviceHealth

Device health information.

• status (int): Health status code
• error_code (int): Error code if any

Utility Functions

The package includes utility functions in pyrplidarsdk.utils:

from pyrplidarsdk.utils import polar_to_cartesian, filter_by_range

# Convert polar to cartesian coordinates
x_coords, y_coords = polar_to_cartesian(angles, ranges)

# Filter by range
filtered_angles, filtered_ranges, filtered_qualities = filter_by_range(
    angles, ranges, qualities, min_range=0.1, max_range=5.0
)

Support

• Issues: GitHub Issues
• Email: [e-mail]

Acknowledgments

• Slamtec for the RPLIDAR SDK
• nanobind for the excellent Python-C++ binding framework