hybo-ilidar-test

• setting up & testing hybo.co iLidar https://www.hybo.co/%EB%B3%B5%EC%A0%9C-product on Ubuntu 18.04 LTS
• github

1 Installation

libglfw3

# Update the package index:
sudo apt-get update
# Install libglfw3-dev deb package:
sudo apt-get install libglfw3-dev

libserialport0

# Update the package index:
sudo apt-get update
# Install libserialport0 deb package:
sudo apt-get install libserialport0

python bindings

pip install hybo

2 Identifying the iLidar on the USB port

dmesg | grep tty

ouput should show something like

[    0.000000] console [tty0] enabled
[    0.527507] 00:01: ttyS0 at I/O 0x3f8 (irq = 4, base_baud = 115200) is a 16550A
[  879.458032] usb 1-5: FTDI USB Serial Device converter now attached to ttyUSB0

just doing this out of curiosity

lsusb

getting:

Bus 001 Device 007: ID 0403:6015 Future Technology Devices International, Ltd Bridge(I2C/SPI/UART/FIFO)

3 Using iViewer version 0.2.1

chmod +x iViewer
./iViewer

Setting up the connection

enter the USB port from above, set baud rate to 921600, connect the sensor and have fun!

Sample

first person view

left & right view

Accuracy

Just measured the the distance to the wall and got 2.5m (2.8m is the distance to the wall) in the imperfect environment of my room. Needs more testing...

Recordings

Those need to be checked.

Coordinate System

fixes

• if original repo was not forked

  git remote set-url origin [new_remote_repository_URL]
  

• run into error when visualizing (thx to gpt4!)

  needed fix in code installed by pip install hybo which is located python -c "import site; print(site.getsitepackages())" and actually located here: ['/home/rainer/mambaforge/envs/donkey/lib/python3.9/site-packages/hybo/']

examples

python examples/rbx-simple-vis.py