Datasheet

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Data Output
During the working process, the RPLIDAR will output the sampling data via the
communication interface. And each sample point data contains the information in
the following table. If you need detailed data format and communication protocol,
please contact SLAMTEC.
Figure 1-4 The RPLIDAR Sample Point Data Information
Figure 1-5 The RPLIDAR Sample Point Data Frames
The RPLIDAR outputs sampling data continuously and it contains the sample point
data frames in the above figure. Host systems can configure output format and
stop RPLIDAR by sending stop command. For detailed operations please contact
SLAMTEC.
High Speed Sampling Protocol and Compatibility
The RPLIDAR A2M12 adopts the newly extended high speed sampling protocol
for outputting the 16000 times per second laser range scan data. Users are
Data Type
Unit
Description
Distance
mm
Current measured distance value between the
rotating core of the RPLIDAR and the sampling point
Heading
degree
Current heading angle of the measurement
Start Flag
(Bool)
Flag of a new scan
Checksum
The Checksum of RPLIDAR return data
…
(d
ሾ
n − 1
ሿ
, θ
ሾ
n − 1
ሿ
)
(d
ሾ
n
ሿ
, θ
ሾ
n
ሿ
)
(d
ሾ
0
ሿ
, θ
ሾ
0
ሿ
)
(d
ሾ
1
ሿ
, θ
ሾ
1
ሿ
)
…
Start Flag
A new scan