pyrobosim.sensors.lidar.Lidar2D.__init__

Lidar2D.__init__(*, update_rate_s: float, angle_units: str, min_angle: float, max_angle: float, angular_resolution: float, max_range_m: float) → None

Constructs a 2D lidar sensor instance.

Parameters:

• update_rate_s – The sensor thread update rate, in seconds.

• angle_units – The units to use for the angle limits and resolutions. Must be either “degrees” or “radians”.

• min_angle – The minimum scan angle, in the specified units.

• max_angle – The maximum scan angle, in the specified units.

• angular_resolution – The angular resolution, in the specified units.

• max_range_m – The maximum range of each lidar beam, in meters.