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Make the lidar streamer ready to work with main controller

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Piv
2020-04-16 21:12:12 +09:30
parent 65c19e7494
commit ed371d3a2f
9 changed files with 53 additions and 23 deletions
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7
slam/slam_streamer.py
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@@ -15,10 +15,9 @@ import tracking.devices.factory as lidar_fact
class SlamStreamer:
can_scan = False
def __init__(self, map_pixels=None, map_meters=None, lidar_connection=None, port=None):
def __init__(self, map_pixels=None, map_meters=None, port=None):
self._map_pixels = map_pixels
self._map_meters = map_meters
self._lidar_connection = lidar_connection
self._port = port
def start(self):
@@ -40,8 +39,8 @@ class SlamStreamer:
# Adapted from BreezySLAM rpslam example.
# Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
lidar = lidar_fact.get_lidar(self._lidar_connection)
lidar = lidar_fact.get_lidar(self._lidar_connection)
lidar = lidar_fact.get_lidar()
lidar = lidar_fact.get_lidar()
print('Initialised lidar')