Slamtec RPLIDAR A1 User Manual

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w.slamtec.com
Shanghai Slamtec.Co.,Ltd
RPLIDAR
Low Cost 360 Degree Laser Range Scanner
Interface Protocol and Application Notes
Applied to RPLIDAR A1 & A2
2018-03-08 rev.1.1

Slamtec RPLIDAR A1 Specifications

General

Brand	Slamtec
Model	RPLIDAR A1
Category	Scanner
Language	English

Summary

Protocol Basics

Basic Communication Mode

Request Packets' Format

Details the common format for all request packets sent by the host system.

Response Packets' Format

Explains the division of response packets into descriptors and data responses.

Working State and Mechanism

Major Working States and Transition Conditions

Request and Response Data

Requests Overview

Lists all available requests with their values, payload, response mode, and operation.

STOP Request

RPLIDAR Core Reset(RESET) Request

Start Scan (SCAN) Request and Response

EXPRESS_SCAN Request and Response

Details the EXPRESS_SCAN request for high sampling rate operation.

GET_INFO Request and Response

GET_HEALTH Request and Response

GET_SAMPLERATE Request

Application Notes

Retrieving scanning data from an RPLIDAR

Recommended sequence for enabling scanning and retrieving data.

Calculate RPLIDAR Scanning Speed