README.md

Delta-2A lidar driver

About

This crate contains a rust driver implementation for the 3irobotix delta-2A Lidar Sensor.

Features

• Read distance frames
• Read lidar speed (WIP)
• Read/write measurements to file + abstractions to mock sensor (behind file feature)

Dependencies

This library uses the serialport crate which requires libudev-dev to be installed on your system. On Ubuntu:

sudo apt-get update && sudo apt-get install -y libudev-dev

Examples

List al lidar sensors

This simple example prints all found lidar sensors.

use delta_2a_lidar::Lidar;

for sensor in Lidar::enumerate().unwrap() {
  println!("Found lidar sensor: {}", sensor);
}

Read incoming packages

This simple example prints all incoming packages from the first lidar sensor we find

use delta_2a_lidar::Lidar;

// Get all lidars
let mut lidar_names = Lidar::enumerate().unwrap();

// Take the first lidar
let lidar_name = lidar_names.next().unwrap();

// Open the lidar
let mut lidar = Lidar::open(lidar_name).unwrap();

// Read packages as long as the lidar produces packages
while let Some(package) = lidar.next().await {
  println!("Received package: {:?}", package);
}