RPLidar [](http://rplidar.readthedocs.org/en/latest/?badge=latest) [](https://pypi.python.org/pypi/rplidar) [](https://github.com/SkRobo/rplidar/blob/master/LICENSE) [](http://unmaintained.tech/)

Simple and lightweight Python module for working with RPLidar rangefinder scanners.

This module aims to implement communication protocol with RPLidar rangefinder scaners. It's Python 2 and 3 compatible, but was mainly tested using Python 3.

For protocol specifications please refer to the slamtec document.

Installing

You can install rplidar using pip:

$ pip install rplidar

Or for Python 3:

$ sudo pip3 install rplidar

Documentation

View the latest rplidar documentation at http://rplidar.rtfd.org/.

Usage example

Simple example:

from rplidar import RPLidar
lidar = RPLidar('/dev/ttyUSB0')

info = lidar.get_info()
print(info)

health = lidar.get_health()
print(health)

for i, scan in enumerate(lidar.iter_scans()):
    print('%d: Got %d measurments' % (i, len(scan)))
    if i > 10:
        break

lidar.stop()
lidar.stop_motor()
lidar.disconnect()

In addition to it you can view example applications inside examples directory.