User Manual

CONTENTS ................................................................................................................................................... 1
OVERVIEW ................................................................................................................................................... 3
SDK AND DEMO PROGRAM .............................................................................................................................. 3
PROTOCOL BASICS .................................................................................................................................... 4
BASIC COMMUNICATION MODE ........................................................................................................................ 4
REQUEST PACKETS’ FORMAT ........................................................................................................................... 6
RESPONSE PACKETS’ FORMAT ......................................................................................................................... 7
WORKING STATE AND MECHANISM ................................................................................................. 10
MAJOR WORKING STATES AND TRANSITION CONDITIONS ............................................................................ 10
SCANNING STATUS ........................................................................................................................................... 11
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
APPLICATION NOTES ............................................................................................................................. 28
RETRIEVING SCANNING DATA FROM AN RPLIDAR ......................................................................................... 28
CALCULATE RPLIDAR SCANNING SPEED ........................................................................................................ 29
REVISION HISTORY ................................................................................................................................. 31
APPENDIX .................................................................................................................................................. 32
IMAGE AND TABLE INDEX ................................................................................................................................. 32
Contents