I am running an RPLidar a1m8 connected to my computer over USB. I am trying to continually collect data from it and graph it using matplotlib. This works for approximately 25 lines but then I get the error, if anyone knows a solution to this it would be greatly appreciated. Code Printing Properly
x is -424.2619428142333 y is -103.69361783394488
x is -425.2488450237623 y is -113.94508460638478
x is -426.76680234448065 y is -122.49937312764901
x is -428.54349054785354 y is -132.29787114334755
x is -429.7437088814488 y is -142.4882703130912
x is -430.94972519517984 y is -154.32885943399893
x is -433.00149846184235 y is -163.239899625671
x is -433.649229732051 y is -174.65564849955132
x is -434.9438784567277 y is -185.8838954643981
x is -436.894825594578 y is -196.37696241841425
x is -439.7883509307727 y is -205.66102301017438
Error:
Too many bytes in the input buffer: 4030/3000. Cleaning buffer...
Traceback (most recent call last):
File "/home/garb/TESTING/lidar_testing/plotting.py", line 24, in <module>
for scan in enumerate(lidar.iter_scans()):
File "/usr/local/lib/python3.10/dist-packages/rplidar.py", line 446, in iter_scans
for new_scan, quality, angle, distance in iterator:
File "/usr/local/lib/python3.10/dist-packages/rplidar.py", line 394, in iter_measures
self.start(self.scanning[2])
File "/usr/local/lib/python3.10/dist-packages/rplidar.py", line 319, in start
status, error_code = self.get_health()
File "/usr/local/lib/python3.10/dist-packages/rplidar.py", line 279, in get_health
dsize, is_single, dtype = self._read_descriptor()
File "/usr/local/lib/python3.10/dist-packages/rplidar.py", line 216, in _read_descriptor
raise RPLidarException('Incorrect descriptor starting bytes')
rplidar.RPLidarException: Incorrect descriptor starting bytes
My Code:
from rplidar import RPLidar
from pprint import pprint
import csv
from math import sin, cos, radians
lidar = RPLidar('/dev/ttyUSB0')
from math import sin, cos, radians
import time
import numpy as np
import matplotlib.pyplot as plt
def polar2cart(angle, distance):
length = distance
angle = angle
angle = radians(angle)
x,y = (length * cos(angle)), (length * sin(angle))
print('x is ', str(x) + ' y is ', str(y))
plt.xlim(-300, 300)
plt.ylim(-300, 300)
plt.scatter(x, y, color="black")
plt.pause(0.05)
for scan in enumerate(lidar.iter_scans()):
list_version_data = list(scan)
for data in list_version_data:
if isinstance(data, list):
for indiv_data_points in data:
if isinstance(indiv_data_points, tuple):
list_indiv_data_points = list(indiv_data_points)
list_indiv_data_points.pop(0)
# print(list_indiv_data_points)
# Angle is first, distance is second
# Angle is in degrees, distance is in mm
angle = list_indiv_data_points[0]
distance = list_indiv_data_points[1]
polar2cart(angle, distance)
elif isinstance(data, int):
print("int")
if KeyboardInterrupt:
lidar.stop()
lidar.stop_motor()
lidar.disconnect()
scan()
plt.show()
