How to get one measurement at a time

[bolin01]

Hi, this is a great repository! All the examples work out great for me. The only problem I have is when I call lidar.iter_scan(), it returns measurement continuously and the program just stucks there so that I can not do that tasks in the code. I am curious how can I get one measurement at a time from lidar so that I can do others tasks in a while loop.

Pseudo code for my desired program is:
while True:
1. Get raspberry pi v2 camera image
2. Get measurement from lidar (when I use lidar.iter_scan(), lidar starts returning scans continuously and the program gets stuck here forever)
3. Command robot to move

Appreciate your help.

[emilbak5]

Did you ever get this solved? I am having the exact same problem.