uam-05lp 0.2.0

Python communication library for the Hokuyo UAM-05LP safety laser scanner (UAM protocol)

uam-05lp

Python communication library for the Hokuyo UAM-05LP safety laser scanner (UAM protocol).

Installation

pip install uam-05lp

For serial/USB connections:

pip install uam-05lp[serial]

Quick Start

from uam_05lp import UAM05LP

with UAM05LP("192.168.0.10") as sensor:
    scan = sensor.get_distance()
    print(f"Got {len(scan.distances)} distance points")

Examples

Get distance measurement

The sensor returns 1081 distance points covering a 270° field of view (step 0 = −135°, step 540 = 0° front-center, step 1080 = +135°). Distances are in millimeters.

from uam_05lp import UAM05LP

with UAM05LP("192.168.0.10") as sensor:
    scan = sensor.get_distance()

    # Access individual distances (mm)
    front = scan.distances[540]       # Front-center
    left  = scan.distances[1080]      # +135°
    right = scan.distances[0]         # -135°
    print(f"Front: {front} mm, Left: {left} mm, Right: {right} mm")

    # Safety status
    print(f"Area: {scan.safety.area_number}")
    print(f"Error: {scan.safety.error_detected}")
    print(f"OSSD1: {scan.safety.ossd1}, OSSD2: {scan.safety.ossd2}")

    # Find the closest point
    min_dist = min(d for d in scan.distances if d < 0xFFFC)
    min_step = scan.distances.index(min_dist)
    angle = (min_step - 540) * 0.25  # Convert step to degrees
    print(f"Closest point: {min_dist} mm at {angle}°")

    # Check for errors and warnings
    if scan.safety.error_detected:
        print(f"ERROR: Sensor error code {scan.safety.error_code}")
    if scan.safety.optical_window_contamination:
        print("WARNING: Optical window is dirty, clean the sensor!")

Continuous scanning

from uam_05lp import UAM05LP

with UAM05LP("192.168.0.10") as sensor:
    with sensor.iter_distance() as stream:
        for scan in stream:
            print(scan.distances[540])  # Front-center distance

Serial/USB connection

from uam_05lp import UAM05LP, SerialTransport

transport = SerialTransport("/dev/ttyACM0")  # or "COM3" on Windows
with UAM05LP(transport=transport) as sensor:
    scan = sensor.get_distance()
    print(f"Got {len(scan.distances)} points")

Requirements

• Python 3.10+
• No dependencies for Ethernet (TCP) connections
• pyserial for USB/Serial connections (install with [serial] extra)

Documentation

Full documentation is available at: https://git.kristou.com/kristou/safety_library_lp_python/wiki

License

BSD-3-Clause