get_laser_info()¶

Get the following LiDAR technical information:

Minimum detection angle.
Maximum detection angle.
Angle increment between measurements.

Reference¶

Arguments¶

Argument	Type	Default value
`ang_unit`	`ANGLE_UNIT`	`DEGREES`	ENU M to select the unit of the angle: (`DEGREES`) degrees or (`RADIANS`) radians.

Return¶

Dictionary dict with the following keys:

Key	Value
`angle_increment`	Angle increment between measurements.
`angle_min`	Minimum detection angle.
`angle_max`	Maximum detection angle.

Exceptions¶

RayaLidarInvalidAngleUnit

See the complete list of lidar exceptions.

Usage Example¶

Code:

...
class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.lidar = self.enable_controller('lidar')
        ...

    async def loop(self):
      ...
      lidar_info = self.lidar.get_laser_info()
      self.log.info(lidar_info)
      ...

    async def finish(self):
       ...

Output

{ 'angle_min':-90.0, 'angle_max':90.0, 'angle_increment':1.0 }

See the Lidar_scan example to check some valid uses.