User Manual

CONTENTS ................................................................................................................................................... 1
1. OVERVIEW ........................................................................................................................................... 3
SDK AND DEMO PROGRAM .............................................................................................................................. 3
2. PROTOCOL BASICS ............................................................................................................................ 4
BASIC COMMUNICATION MODE ........................................................................................................................ 4
REQUEST PACKETS’ FORMAT ........................................................................................................................... 6
RESPONSE PACKETS’ FORMAT ......................................................................................................................... 7
3. WORKING STATE AND MECHANISM ........................................................................................ 10
MAJOR WORKING STATES AND TRANSITION CONDITIONS ............................................................................ 10
SCANNING STATUS ........................................................................................................................................... 11
4. REQUEST AND RESPONSE DATA ................................................................................................ 12
REQUESTS OVERVIEW ....................................................................................................................................... 12
STOP REQUEST ................................................................................................................................................ 12
RPLIDAR CORE RESET(RESET) REQUEST ...................................................................................................... 13
START SCAN（SCAN） REQUEST AND RESPONSE ......................................................................................... 13
EXPRESS SCAN(EXPRESS_SCAN) REQUEST AND RESPONSE ........................................................................ 17
FORCE SCAN(FORCE_SCAN) REQUEST AND RESPONSE ............................................................................... 23
GET DEVICE INFO (GET_INFO) REQUEST AND RESPONSE ............................................................................. 24
GET DEVICE HEALTH STATUS (GET_HEALTH) REQUEST AND RESPONSE ..................................................... 26
GET SAMPLE RATE(GET_SAMPLERATE) REQUEST ........................................................................................ 27
5. APPLICATION NOTES ..................................................................................................................... 29
RETRIEVING SCANNING DATA FROM AN RPLIDAR ......................................................................................... 29
CALCULATE RPLIDAR SCANNING SPEED ........................................................................................................ 30
6. REVISION HISTORY ......................................................................................................................... 32
APPENDIX .................................................................................................................................................. 33
IMAGE AND TABLE INDEX ................................................................................................................................. 33
Contents