Datasheet

7 / 17
Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Figure 1-5 The RPLIDAR S2 Sample Point Data Frames
The RPLIDAR S2 outputs sampling data continuously and it contains the sample
point data frames in the above figure. Host systems can configure output format
and stop RPLIDAR by sending stop command. For detailed operations please
contact SLAMTEC.
High Speed Sampling Protocol and Compatibility
The RPLIDAR S2 adopts the newly extended high Speed sampling protocol for
outputting the 32000 times per second laser range scan data. Users are required
to update the matched SDK or modify the original driver and use the new protocol
for the 32000 times per second mode of RPLIDAR S2. Please check the related
protocol documents for details.
Application Scenarios
The RPLIDAR can be used in the following application scenarios:
o General robot navigation and localization
o Environment scanning and 3D re-modeling
o Service robot or industrial robot working for long hours
o Home service /cleaning robot navigation and localization
o General simultaneous localization and mapping (SLAM)
o Smart toy’s localization and obstacle avoidance
…
(d
ሾ
n − 1
ሿ
, θ
ሾ
n − 1
ሿ
)
(d
ሾ
n
ሿ
, θ
ሾ
n
ሿ
)
(d
ሾ
0
ሿ
, θ
ሾ
0
ሿ
)
(d
ሾ
1
ሿ
, θ
ሾ
1
ሿ
)
…
Start Flag
A new scan