Interface Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
legacy version. Please use extended version for scan modes sample more than 4000 times per
second and max distance of which exceeds 16m.
RPLIDAR Public SDK has been updated to hide the complexity and variety of the protocol. It selects
scan mode automatically according to user’s requirement, and is back-compatible to RPLIDARs with
firmware prior to 1.24.
 Legacy Version
 Extended Version
1
 Dense Version
1
Lagacy Vesion and Dense Version have same request packet, their response depend on RPLIDAR. The field
‘M’ denotes the expected scan mode id, while ‘C’ is the checksum of this request.
A5
82
A5
5A
54
00
00
40
8
2
84 bytes
05
00
00
00
00
00
22
Request Packet:
Response Descriptor:
Response Mode:
Multiple
Data Response Length:
A5
82
A5
5A
84
00
00
40
8
4
132 bytes
05
M
00
00
00
00
C
Request Packet:
Response Descriptor:
Response Mode:
Multiple
Data Response Length:
A5
82
A5
5A
54
00
00
40
8
5
84 bytes
05
00
00
00
00
00
22
Request Packet:
Response Descriptor:
Response Mode:
Multiple
Data Response Length: