HOKUYO URG-04激光雷达的PYTHON驱动

HOKUYO urg雷达的驱动资源

在GITHUB里面有：
https://github.com/nus/pyURG

里面有相关库的介绍

驱动方法：

1 安装驱动

在python的pypi库里面已经将该库集成进去了。

所以，输入：pip install pyurg

pip install pyurg

那么系统就会自动进行安装：

(base) C:\Users\scaux>pip install pyurg
Collecting pyurg
  Downloading https://files.pythonhosted.org/packages/95/35/3777f95fb48f688f0a40cc57e4d06a362822261d48af35e225152c5d6eac/pyurg-0.0.1-py3-none-any.whl
Collecting build-utils (from pyurg)
  Downloading https://files.pythonhosted.org/packages/e2/2e/ba580862ca2b0ebc208cc702019cf63aaf850794af3678cebc050f5d6d59/build_utils-0.3.2-py3-none-any.whl
Collecting pyserial (from pyurg)
  Downloading https://files.pythonhosted.org/packages/0d/e4/2a744dd9e3be04a0c0907414e2a01a7c88bb3915cbe3c8cc06e209f59c30/pyserial-3.4-py2.py3-none-any.whl (193kB)
     |████████████████████████████████| 194kB 9.0kB/s
Collecting simplejson (from pyurg)
  Downloading https://files.pythonhosted.org/packages/e3/24/c35fb1c1c315fc0fffe61ea00d3f88e85469004713dab488dee4f35b0aff/simplejson-3.16.0.tar.gz (81kB)
     |████████████████████████████████| 81kB 5.8kB/s
Requirement already satisfied: colorama in c:\programdata\anaconda3\lib\site-packages (from build-utils->pyurg) (0.4.1)
Collecting twine (from build-utils->pyurg)
  Downloading https://files.pythonhosted.org/packages/28/90/59eec88c0b2ac9e47fe135959007acb93a3cc9f7146366e11fecf718dd15/twine-1.13.0-py2.py3-none-any.whl
Requirement already satisfied: nose in c:\programdata\anaconda3\lib\site-packages (from build-utils->pyurg) (1.3.7)
Requirement already satisfied: setuptools>=0.7.0 in c:\programdata\anaconda3\lib\site-packages (from twine->build-utils->pyurg) (40.6.3)
Requirement already satisfied: pkginfo>=1.4.2 in c:\programdata\anaconda3\lib\site-packages (from twine->build-utils->pyurg) (1.4.2)
Requirement already satisfied: tqdm>=4.14 in c:\programdata\anaconda3\lib\site-packages (from twine->build-utils->pyurg) (4.28.1)
Requirement already satisfied: requests!=2.15,!=2.16,>=2.5.0 in c:\programdata\anaconda3\lib\site-packages (from twine->build-utils->pyurg) (2.21.0)
Collecting readme-renderer>=21.0 (from twine->build-utils->pyurg)
  Downloading https://files.pythonhosted.org/packages/c3/7e/d1aae793900f36b097cbfcc5e70eef82b5b56423a6c52a36dce51fedd8f0/readme_renderer-24.0-py2.py3-none-any.whl
Collecting requests-toolbelt!=0.9.0,>=0.8.0 (from twine->build-utils->pyurg)
  Downloading https://files.pythonhosted.org/packages/60/ef/7681134338fc097acef8d9b2f8abe0458e4d87559c689a8c306d0957ece5/requests_toolbelt-0.9.1-py2.py3-none-any.whl (54kB)
     |████████████████████████████████| 61kB 7.0kB/s
Requirement already satisfied: chardet<3.1.0,>=3.0.2 in c:\programdata\anaconda3\lib\site-packages (from requests!=2.15,!=2.16,>=2.5.0->twine->build-utils->pyurg) (3.0.4)
Requirement already satisfied: idna<2.9,>=2.5 in c:\programdata\anaconda3\lib\site-packages (from requests!=2.15,!=2.16,>=2.5.0->twine->build-utils->pyurg) (2.8)
Requirement already satisfied: urllib3<1.25,>=1.21.1 in c:\programdata\anaconda3\lib\site-packages (from requests!=2.15,!=2.16,>=2.5.0->twine->build-utils->pyurg) (1.24.1)
Requirement already satisfied: certifi>=2017.4.17 in c:\programdata\anaconda3\lib\site-packages (from requests!=2.15,!=2.16,>=2.5.0->twine->build-utils->pyurg) (2018.11.29)
Requirement already satisfied: Pygments in c:\programdata\anaconda3\lib\site-packages (from readme-renderer>=21.0->twine->build-utils->pyurg) (2.3.1)
Requirement already satisfied: six in c:\programdata\anaconda3\lib\site-packages (from readme-renderer>=21.0->twine->build-utils->pyurg) (1.12.0)
Requirement already satisfied: bleach>=2.1.0 in c:\programdata\anaconda3\lib\site-packages (from readme-renderer>=21.0->twine->build-utils->pyurg) (3.0.2)
Requirement already satisfied: docutils>=0.13.1 in c:\programdata\anaconda3\lib\site-packages (from readme-renderer>=21.0->twine->build-utils->pyurg) (0.14)
Requirement already satisfied: webencodings in c:\programdata\anaconda3\lib\site-packages (from bleach>=2.1.0->readme-renderer>=21.0->twine->build-utils->pyurg) (0.5.1)
Building wheels for collected packages: simplejson
  Building wheel for simplejson (setup.py) ... done
  Stored in directory: C:\Users\scaux\AppData\Local\pip\Cache\wheels\5d\1a\1e\0350bb3df3e74215cd91325344cc86c2c691f5306eb4d22c77
Successfully built simplejson
Installing collected packages: readme-renderer, requests-toolbelt, twine, build-utils, pyserial, simplejson, pyurg
Successfully installed build-utils-0.3.2 pyserial-3.4 pyurg-0.0.1 readme-renderer-24.0 requests-toolbelt-0.9.1 simplejson-3.16.0 twine-1.13.0
(base) C:\Users\scaux>

2 调用驱动

>>> import pyurg              # inport this library
>>> urg = pyurg.UrgDevice()   # for Initializing
>>> urg.connect()             # connect to the URG device
True
>>> data, timestamp = urg.capture() # get length datas and timestamp
>>> data  # print length datas
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 117, 117, 118, 119, 118, 120, 120, 120, 116, 120, 117, 118, 117, 
117, 117, 118, 119, 120, 120, 120, 120, 127, 2413, 2413, 2413, ...  111, 111, 113, 113, 113, 113, 114, 112]