create_obstacle_listener()

1 Minute to read

Article summary

Did you find this summary helpful?

Thank you for your feedback

Creates a listener triggered when an obstacle is found with the selected parameters (as in check_obstacle). The callback is called only once when the condition meets.

Reference

Arguments

Arguments	Type	Default value
listener_name	`string`		Unique listener identifier.
callback	`function` or `tuple`		Callback (see the Callback section in the Listeners Schema page).
`lower_angle`	`float`		Lower bound of the angles range.
`upper_angle`	`float`		Upper bound of the angles range.
`lower_distance`	`float`	`0.0`	Lower bound of the distance range.
`upper_distance`	`float`	`float('inf')`	Upper bound of the distance range.
`ang_unit`	`ANGLE_UNIT`	`DEGREES`	ENUM to select the unit of the angle: (`DEGREES`) degrees or (`RADIANS`) radians.

Both lower_angle and upper_angle must be into the range [angle_min, angle_max] from laser info (see LidarController.get_laser_info())
upper_angle must be higher than lower_angle.
At least one of both lower_distance or upper_distance must be speficied.
upper_distance must be higher than lower_distance.

Return

None

Exceptions

RayaLidarInvalidAngleUnit
RayaInvalidNumericRange

See the complete list of lidar exceptions.

Usage Example

async def setup(self):
self.lidar.create_obstacle_listener(listener_name='obstacle',
                                              callback=self.callback_obstacle,
                                              lower_angle=260,
                                              upper_angle=280,
                                              upper_distance=2.0)
async def loop(self):
        await self.sleep(1.0)
        self.log.info('Doing other (non blocking) stuff!')

def callback_obstacle(self):
        self.log.warning('Obstacle!')
        
        
        
(INFO)<RayaApp.app.app> Doing other (non blocking) stuff!
(INFO)<RayaApp.app.app> Doing other (non blocking) stuff!
(WARNING)<RayaApp.app.app> Obstacle!
(INFO)<RayaApp.app.app> Doing other (non blocking) stuff!

Was this article helpful?

What's Next

get_raw_data()

Table of contents

Reference
Usage Example