Slamtec RPLIDAR Manual de usuario

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Shangh ai Slam tec.C o.,Ltd

RPLIDAR

Low Cost 360 Degree Laser Range Scanner

Introduction to Standard SDK

2017-05-15 rev.1.0

CONTENTS ...................................................................................................................................................1

INTRODUCTION .........................................................................................................................................3

SDK ORGANIZATION ......................................................................................................................................... 3

BUILD SDK AND DEMO APPLICATIONS ............................................................................................................. 4

CROSS COMPILE ................................................................................................................................................. 6

DEMO APPLICATION ................................................................................................................................6

ULTRA_SIMPLE .................................................................................................................................................... 6

SIMPLE_GRABBER ................................................................................................................................................ 8

FRAME_GRABBER ................................................................................................................................................ 9

SDK USAGE AND DEVELOPMENT GUIDE ..........................................................................................11

ASSUMPTION.................................................................................................................................................... 11

SDK USAGE ...................................................................................................................................................... 11

RUNTIME CONSISTENCY ................................................................................................................................... 11

SDK HEADERS.................................................................................................................................................. 11

SDK INITIALIZATION AND TERMINATION ........................................................................................................ 12

CONNECTING TO AN RPLIDAR....................................................................................................................... 12

MOTOR START AND STOP CONTROL............................................................................................................... 13

MEASUREMENT SCAN AND DATA ACQUIRING ................................................................................................ 13

RETRIEVING OTHER INFORMATION OF AN RPLIDAR...................................................................................... 14

THE OPERATIONS RELATED TO THE ACCESSORY BOARD ................................................................................. 15

REVISION HISTORY .................................................................................................................................16

APPENDIX ..................................................................................................................................................17

IMAGE AND TABLE INDEX ................................................................................................................................. 17

Contents

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This document introduces the open source RPLIDAR standard SDK. The SDK can

be used in Windows, MacOS (10.x) and Linux environment by using Microsoft

Visual C++ 2010 and Makefile.

SDK Organization

The RPLIDAR standard SDK organized as bellow:

Figure 1-1 The RPLIDAR standard SDK organization

The workspaces directory contains VS project files for SDK and related demo

applications.

The sdk directory contains the external header files(the include folder) of RPLIDAR

driver application and the internal implementation code of SDK itself(the src

folder).

The app directory contains the related sample code. And SLAMTEC provides the

following demo applications in the app directory:

ultra_simple

An ultra-simple command line application demonstrates the simplest way to

connect to an RPLIDAR device and continuously fetching the scan data and

outputting the data to the console. Users can quickly integrate RPLIDAR to their

existing system based on this demo application.

simple_grabber

Introduction

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A command line grab application. Each execution will grab two round of laser data

and show as histogram.

frame_grabber

A win32 GUI grab application. When pressing start scan button, it will start scan

continuously and show the data in the UI.

For SDK after compilation, there will be two more subfolders in the SDK: obj and

output. The output folder contains generated SDK static library (.lib or .a) and

demo application executable files (exe or elf). obj folder contains intermediate files

generated during compilation.

Build SDK and Demo Applications

If you’re developing under Windows, please open VS solution file

sdk_and_demo.sln under workspaces\vc10 or workspaces\vc9. It contains the

SDK project and all demo application projects.

Figure 1-2 The RPLIDAR Standard SDK Solution File

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Now, you can develop SDK and all the demo applications in VS environment easily.

There are two ways of compiling: Debug and Release. And you can choose

according to your requirement. Depends on your build configure, the generated

binary can be found under output\win32\Release or output\win32\Debug.

If you’re developing under Linux or MacOS, just type “make” under the root

of SDK directory to start compiling. It will do Release build by default, and you

can also type “make DEBUG=1” to do Debug build. The generated binary can

be found under the following folders:

oLinux

ooutput\Linux\Release

ooutput\Linux\Debug.

oMacOS

ooutput\Darwin\Release

ooutput\Darwin\Debug.

Figure 1-3 Develop RPLIDAR Standard SDK in Linux

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Figure 1-4 Develop RPLIDAR Standard SDK in MacOS

Cross Compile

The SDK build system allows you to generate binaries which run on another

platform/system using the cross-compiling feature.

NOTE: this feature only works with Make build system.

The cross compile process can be triggered by invoking the cross_compile.sh

script under the SDK root folder. The common usage is:

CROSS_COMPILE_PREFIX=<COMPILE_PREFIX> ./cross_compile.sh

e.g. CROSS_COMPILE_PREFIX=arm-linux-gnueabihf ./cross_compile.sh

ultra_simple

The demo application simply connects to an RPLIDAR device and outputs the scan

data to the console:

Demo Application

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Figure 2-1 ultra_simple Demo Application Data Output

Steps:

1) Connect RPLIDAR to PC by using the provided USB cable. (The chip

transforming the USB to serial port is embedded in the RPLIDAR

development kit)

2) Start application by using the following command:

oWindows

ultra_simple <com_port>

Note: if the com number is larger than 9, e.g. com11, then you should

start application use command like this: ultra_grabber \\.\com11

oLinux

ultra_simple <tty device>

e.g. ultra_simple /dev/ttyUSB0.

oLinux

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ultra_simple <usb tty device>

e.g. ultra_simple /dev/tty.SLAB_USBtoUART.

simple_grabber

This application demonstrates the process of getting RPLIDAR’s serial number,

firmware version and healthy status after connecting the PC and RPLIDAR. Then

the demo application grabs two round of scan data and shows the range data as

histogram in the command line mode. User can print all scan data if needed.

Figure 2-2 simple_grabber Demo Application Data Output

Steps:

1) Connect RPLIDAR to pc using provided USB cable. (USB to serial chip

embedded in RPLIDAR development kit)

2) Start application use command: simple_grabber <com number>

oWindows

simple_grabber <com_port>

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Note: if the com number is larger than 9, e.g. com11, then you should

start application use command like this: ultra_grabber \\.\com11

oLinux

simple_grabber <tty device>

e.g. ultra_simple /dev/ttyUSB0.

oLinux

simple_grabber <usb tty device>

e.g. ultra_simple /dev/tty.SLAB_USBtoUART.

frame_grabber

This demo application can show real-time laser scan data in the GUI with 0-360

degree environment range data. Note, this demo application only has win32

version.

Figure 2-3 frame_grabber Demo Application Data Output

10 / 17

Steps:

1) Connect RPLIDAR to pc using provided USB cable. (USB to serial chip

embedded in RPLIDAR development kit)

2) Choose correct com port number through com port selection dialog.

3) Press start scan button (marked in red in the figure above) to start.

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