User Guide

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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 A2 adopts the newly extended high speed sampling protocol for
outputting the 8000 times per second laser range scan data. Users are required to
update the matched SDK or modify the original driver and use the new protocol
to use the 8000 times per second mode of RPLIDAR A2. Please check the related
protocol documents for details.
The RPLIDAR A2 is compatible with all the communication protocols of previous
versions. Users can directly replace the previous RPLIDAR with RPLIDAR A2 and
use it in the original system. But in this scenario, the RPLIDAR A2 will work in
compatible mode and the system will take range 2000 times per second.
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