Interface Protocol

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
SCAN MODE AND MEASUREMENT FREQUENCY .............................................................................................. 12
REQUESTS OVERVIEW ....................................................................................................................................... 13
STOP REQUEST ................................................................................................................................................ 14
RPLIDAR CORE RESET(RESET) REQUEST ...................................................................................................... 15
START SCAN（SCAN） REQUEST AND RESPONSE ......................................................................................... 15
EXPRESS SCAN(EXPRESS_SCAN) REQUEST AND RESPONSE ........................................................................ 18
FORCE SCAN(FORCE_SCAN) REQUEST AND RESPONSE ............................................................................... 33
GET DEVICE INFO (GET_INFO) REQUEST AND RESPONSE ............................................................................. 34
GET DEVICE HEALTH STATUS (GET_HEALTH) REQUEST AND RESPONSE ..................................................... 36
GET SAMPLE RATE(GET_SAMPLERATE) REQUEST ........................................................................................ 37
DEVICE CONFIGURATION QUERY COMMAND (GET_LIDAR_CONF) .............................................................. 38
DEVICE MOTOR SPEED CONTROL COMMAND (MOTOR_SPEED_CTRL) ....................................................... 44
APPLICATION NOTES ............................................................................................................................. 45
TYPICAL WORK FLOW OF RETRIEVING SCANNING DATA FROM AN RPLIDAR ................................................. 45
CALCULATE RPLIDAR SCANNING SPEED ........................................................................................................ 46
REVISION HISTORY ................................................................................................................................. 48
APPENDIX .................................................................................................................................................. 49
IMAGE AND TABLE INDEX ................................................................................................................................. 49
Contents