Manual

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Assumption

We strongly recommend developers learn RPLIDAR’s communication protocol

and working mode before starting development by using the RPLIDAR SDK.

This document assumes developer has related knowledge about C++

development.

SDK usage

The RPLIDAR standard SDK provides static library for developers to integrated the

SDK feature into their existing project. If the dynamic library is required, the

developers can also set it by easily modifying the project configurations.

When developing via RPLIDAR SDK, developers only need to include SDK’s

external header files (under sdk\include) into their own source code and link the

application with SDK’s static library (rplidar_driver.lib or rplidar_driver.a).

For VS developers, they can also include the SDK’s VC project into their own

project and set the related project dependence. For Linux developers, please refer

to the simple_grabber’s Makefile for detailed settings.

Runtime consistency

For windows developers: the SDK static library c uses VC10 MD C runtime library.

If your project used different C runtime library may lead to compilation failure or

unpredictable behavior. Then please change SDK settings accordingly.

SDK Headers

o rplidar.h

Usually, you only need to include this file to get all functions of RPLIDAR SDK.

o rplidar_driver.h

This header defines the SDK core drive interface: the RPLidarDriver class. Please

refer to demo applications ultra_simple or simple_grabber to understand how to

use it.

3. SDK Usage and Development Guide