Communication Protocol

17 / 50
Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
RPLIDAR encapsulates each measurement sample into a data response packet with
the format showed in the above figure and send the packet out. The descriptions of
every field within the packet are listed in the following table:
𝑺

𝑆

=
!
𝑆
Figure 4-5 Field Definition of a RPLIDAR Measurement Result Data Response
Packet
The geometric definition of the included angle and distance value is shown as below:
Figure 4-6 Angle and Distance Value Geometric Definition for RPLIDAR A1
series
θ
[
0
,
360
)