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Slamtec RPLIDAR User Manual

Slamtec RPLIDAR
17 pages
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www .sla m tec . c om
Shangh ai Slam tec.C o.,L td
RPLIDAR
Low Cost 360 Degree Laser Range Scanner
Introduction to Standard SDK
2017-05-15 rev.1.0

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Slamtec RPLIDAR Specifications

General IconGeneral
Voltage5V
Weight190g
Sample Rate2000 samples/second
ModelRPLIDAR
Angular Range360°
Measurement Range0.15 - 12 m

Summary

Introduction to RPLIDAR SDK

SDK Organization

Details the directory structure of the RPLIDAR standard SDK, including app, sdk, and workspaces folders.

Build SDK and Demo Applications

Explains how to compile the SDK and demo applications on Windows using Visual Studio and on Linux/macOS using Makefiles.

RPLIDAR Demo Applications

Cross Compile Feature

Describes the SDK's cross-compiling capability to generate binaries for different platforms using a script.

ultra_simple Demo

Introduces the ultra_simple command-line application for connecting to RPLIDAR and fetching scan data.

simple_grabber Demo

Demonstrates acquiring serial number, firmware version, health status, and scan data with histogram output.

frame_grabber Demo

Showcases real-time laser scan data in a GUI, available only for Windows.

RPLIDAR SDK Usage and Development Guide

Development Prerequisites

Assumes developer knowledge of C++ and RPLIDAR communication protocols for development.

Integrating the SDK

Guides on including SDK headers and linking static libraries for integrating RPLIDAR features into projects.

Runtime Consistency Notes

Warns about potential issues if projects use different C runtime libraries than the SDK's.

Key SDK Header Files

Lists essential header files like rplidar.h, rplidar_driver.h, and rplidar_protocol.h for SDK functionality.

SDK Initialization and Termination

Details the process of creating and releasing RPlidarDriver instances using CreateDriver and DisposeDriver functions.

Connecting to RPLIDAR Device

Explains how to establish a connection with the RPLIDAR device using the connect() function and serial port.

Motor Control Functions

Covers functions like startMotor() and stopMotor() for controlling the RPLIDAR's motor rotation.

Scan Data Acquisition

Describes functions like startScan(), grabScanData(), and stop() for capturing laser scan data.

Retrieving Device Information

Lists functions to get device health, serial number, firmware version, and scanning speed.

Accessory Board Operations

Details functions for checking accessory board support and controlling motor speed via PWM.

Revision History

Appendix

Image and Table Index

Provides an index of figures and tables within the document for easy navigation.

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