Communication Protocol

ManualsBrandsSlamtec ManualsLIDARRPLIDAR A2M8 360° Laser Scanner

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Image and Table Index

FIGURE 1-1 THE COMMUNICATION BETWEEN RPLIDAR AND HOST SYSTEM ..................................................... 3

FIGURE 2-1 RPLIDAR REQUEST/RESPONSE MODES ............................................................................................ 4

FIGURE 2-2 RPLIDAR SINGLE REQUEST - MULTIPLE RESPONSE MODE .............................................................. 5

FIGURE 2-3 RPLIDAR SINGLE REQUEST-NO RESPONSE MODE .......................................................................... 6

FIGURE 2-4 RPLIDAR REQUEST PACKETS’ FORMAT .......................................................................................... 6

FIGURE 2-5 RESPONSE PACKETS SENT DURING A SINGLE REQUEST-SINGLE RESPONSE MODE ........................... 8

FIGURE 2-6 RESPONSE PACKETS SENT DURING A SINGLE REQUEST-MULTIPLE RESPONSE MODE ....................... 8

FIGURE 2-7 RPLIDAR RESPONSE DESCRIPTORS’ FORMAT ................................................................................ 8

FIGURE 2-8 RPLIDAR DATA RESPONSE PACKETS VALUE ..................................................................................... 9

FIGURE 3-1 RPLIDAR’S MAJOR STATUS TRANSLATION .................................................................................. 10

FIGURE 3-2 RPLIDAR’S WORKING MODE DURING SCANNING ...................................................................... 11

FIGURE 3-3 TYPICAL SCAN MODES OF RPLIDAR ................................................................................................ 12

FIGURE 4-1 THE AVAILABLE REQUESTS OF RPLIDAR ......................................................................................... 13

FIGURE 4-2 THE TIMING SEQUENCE OF A STOP REQUEST ................................................................................. 15

FIGURE 4-3 THE TIMING SEQUENCE OF A RESET REQUEST ................................................................................ 15

FIGURE 4-4 FORMAT OF A RPLIDAR MEASUREMENT RESULT DATA RESPONSE PACKET .................................. 16

FIGURE 4-5 FIELD DEFINITION OF A RPLIDAR MEASUREMENT RESULT DATA RESPONSE PACKET ................... 17

FIGURE 4-6 ANGLE AND DISTANCE VALUE GEOMETRIC DEFINITION FOR RPLIDAR A1 SERIES ........................ 17

FIGURE 4-7 ANGLE AND DISTANCE VALUE GEOMETRIC DEFINITION FOR RPLIDAR A2 SERIES ........................ 18

FIGURE 4-8 THE COMMUNICATION STATUS AFTER HOST SYSTEM SENDING A SCAN REQUEST ....................... 18

FIGURE 4-9 FORMAT OF A RPLIDAR EXPRESS SCAN DATA REQUEST PACKET .................................................. 20

FIGURE 4-10 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA REQUEST PACKET .................................... 21

FIGURE 4-11 FORMAT OF A RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET (LEGACY VERSION) .............. 22

FIGURE 4-12 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET .................................. 23

FIGURE 4-13 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN CABIN DATA RESPONSE PACKET ....................... 24

FIGURE 4-14 THE COMMUNICATION STATUS SENDING OUT THE EXPRESS SCAN REQUEST .............................. 24

FIGURE 4-15 FORMAT OF A RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET (EXTENDED VERSION) .......... 25

FIGURE 4-16 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA RESPONSE ULTRA CAPSULED PACKET ..... 26

FIGURE 4-17 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN ULTRA CABIN DATA RESPONSE PACKET ........... 26

FIGURE 4-18 THE COMMUNICATION STATUS SENDING OUT THE ULTRA CAPSULED EXPRESS SCAN REQUEST 27

FIGURE 4-19 FORMAT OF A RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET (DENSE VERSION) ............... 28

FIGURE 4-20 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA RESPONSE DENSE CAPSULED PACKET ..... 29

FIGURE 4-21 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DENSE CABIN DATA RESPONSE PACKET .......... 29

FIGURE 4-22 THE COMMUNICATION STATUS SENDING OUT THE DENSE CAPSULED EXPRESS SCAN REQUEST

..................................................................................................................................................................... 30

FIGURE 4-23 THE ABSTRACT DESCRIPTION FOR THE RESPONSE DATA PACKET OF EXPRESS SCAN REQUEST .... 31

FIGURE 4-24 THE ABSTRACT DESCRIPTION FOR THE RESPONSE DATA PACKET OF EXPRESS SCAN REQUEST .... 32

Appendix