Communication Protocol

28 / 50
Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Format of the data response packets (Dense Version)：
RPLIDAR may respond in following response packet format according to amount of
measurements and the link bandwidth. The actual data packet format could also be
fetched via GET_LIDAR_CONF command.
Figure 4-19 Format of a RPLIDAR Express Scan Data Response Packet (Dense
Version)
If RPLIDAR had received the request to work in dense scan mode, it would cyclically
output the measurement data to host system by the above data packet. The packet
contains 40 group of substructures also called Cabin in the same format. Each Cabin
is a 2-byte data body corresponding with a measurement sampling data. Therefore,
a dense scan data response packet contains 40 measurement sampling data points.
The following table describes the filed definition of the Dense Capsule data.
ChkSum[7:4]
sync1
ChkSum[3:0]
8
3 0
start_angle_q6[7:0]
8
0
start_angle_q6[14:8]
8
0
cabin[0]
16 0
+0
+1
+2
+3
+4
Byte
Offset:
sync2
8
3 0
S
7
cabin[1]
16
0
+6
cabin[40]
16
0
+82
…
8
0
+0
distance[15:0]
Cabin