Lidar data parsing

Sample of Lidar A1M8 from Slamtec, for a scan data packet

Tss training dataset for Weka ann, single files, one for each tilted leg (A,B,C,D) and one for no leg tilted (NONE):

tss_training_dataset_LEG_A_1609957235461.arff

tss_training_dataset_LEG_B_1609957257019.arff

tss_training_dataset_LEG_C_1609957278586.arff

tss_training_dataset_LEG_D_1609957300163.arff

tss_training_dataset_NONE_1609957213880.arff

and merged arff file:

tss_training_dataset_LEGS.arff

REST endpoint to generate all ARFF for the ann:

http://raspberry:8080/resources/ann/arff/all

All files are available on git repo.

Connecting the Slamtech A1M8 RPLIDAR to the Raspberry, Raspbian

dmesg

 

lsusb

Lidar is rotating and no power consumption issue detected on dmesg so far.

 Checking USB devices:

USB devices they should show up with lsusb and/or usb-devices when (physically) connected to the Pi. With nothing connected to the USB ports, you get as output:

 Mechanics completed, via REST endpoints the pi4j Spring Boot implementation executes simple commands, like stand up and tilt on each leg.

Current consumption calculation for PI GPIO:

10mA Raspberry PI servo hat

12 x 350µA for adxl 335 accelerometers 8400 µA 0 4,2 milli Ampere


The operating voltage of the GPIO pins is 3.3v with a maximum current draw of 16mA

Images from the inside: