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RPLIDAR
S2E
Low Cost 360 Degree
Laser Range Scanner
Development Kit
User Manual
Model
：
202
2
-0
7
-25 rev.1
.0
Страница 1: ...w w w sl a m te c com S hanghaiS l am t ec C o Lt d RPLIDAR S2E Low Cost 360 Degree Laser Range Scanner Development Kit User Manual Model S2E 2022 07 25 rev 1 0 ...
Страница 2: ... 6 TROUBLESHOOTING 10 MOTOR SPEED ADJUSTMENT 10 SDK INTRODUCTION AND USAGE 11 POWER SUPPLY SPECIFICATION 11 SDK USAGE 11 ROS ROS2 USAGE 11 OPERATION RECOMMENDATION 15 PRE HEATING FOR BEST PERFORMANCE 15 AMBIENT TEMPERATURE 15 AMBIENT LIGHT 15 MAINTENANCE AND REPAIRS 15 REVISION HISTORY 16 APPENDIX 17 IMAGE AND TABLE INDEX 17 Contents ...
Страница 3: ... users can observe the cloud map of the environment scanning point collected by the RPLIDAR in RoboStudio and start development based on the SDK Items in the Development Kit RPLIDAR Development Kit contains Figure 1 1 Items in the RPLIDAR Development Kit The standard version of the RPLIDAR S2E module is included in the RPLIDAR S2E development kit The default IP address of RPLIDAR S2E is 192 168 11...
Страница 4: ...thernet before using the RPLIDAR S2E module Make sure that the RPLIDAR S2E module is connected to a PC through network ports Perform the following steps to configure the Ethernet 1 Windows Network Configuration As shown in Figure 2 2 open the Ethernet attribute configuration of the network interface connected to RPLIDAR S2E and set the IP address of the local network to 192 168 11 2 which is in th...
Страница 5: ... Configuration As shown in Figure 2 3 in Linux run the sudo ifconfig enp4s0 192 168 11 2 command to configure the network Enp4s0 indicates the interface name Change the port name based on the actual situation Figure 2 3 IP Address Setting After the network configuration is complete ping 192 168 11 2 to check whether the network configuration is successful ...
Страница 6: ...indows but for Linux and MacOS users additional sample programs are available with the SDK 1 Please make sure you have connected RPLIDAR to PC by using network interface before running the demo application in RoboStudio Launch RoboStudio and log in Figure 2 4 RoboStudio Login Page 2 If the connection is ok you will see the user interface is shown as below Click the Lidars option in the File menu a...
Страница 7: ...c 2013 2017 Shanghai Slamtec Co Ltd Figure 2 5 Manual Connection Menu for RoboStudio 3 Click on Manual Connect to Lidar select Udp Server connection mode in the dialog box configure the Lidar IP address 192 168 11 2 and port 8089 and then click Connect ...
Страница 8: ...n lidar and the lidar connected to PC will appear in the list Click the lidar icon to expand the list of tool ICONS below the lidar and click the toolbar button to open the toolbar options on the main interface as shown below Figure 2 7 Lidars Plugin Work Interface of RoboStudio The lidar display window shows the serial number version and model information of the current connected lidar All the op...
Страница 9: ... the major working area to choose a range so as to zoom in or out the view The scan frequency is also showed in the above interface eg 10 07Hz 604rpm Button Function Description Restart RPLIDAR Restart scan core to clear internal errors Save Scan Data Save current scan data to the local file Stop Scan Scan core enter power save mode Start Scan Scan data will be displayed after scan core starting w...
Страница 10: ...hieved by pressing the button which can fit in different working environments or meet specific requirements There will be a speed adjustment dialog box and dash board popped up for users to enter required speed After entering a value the motor will work as the settled rotating speed automatically User can also drag the sliding handle to the required rotating speed The current actual rotating speed...
Страница 11: ... Comments Power Voltage 9V 12V 28V If the voltage is not enough the measurement will not be accurate Start Current 1200mA 1500mA 12V power lower voltage start up requires more current Working Current 200mA 220mA 12V power Figure 3 1 RPLIDAR S2E Power Supply Specification SDK Usage RPLIDAR S2E can use open source code RPLIDAR SDK provided by SLAMTEC for rapid development and validation Please refer...
Страница 12: ...ry start the program select Network and manually fill in the DLL according to the interface parameters of RPLIDAR S2E Figure 3 3 Selection Interface of Lidar Connection 3 If Bonjour has been installed on Windows the SDK directory contains the installation package bonjour rar you can use the device Discovery function of RPLIDAR S2E click Auto Discovery wait for 2 to 3 seconds double click the corre...
Страница 13: ...loud Display Interface 5 The RPLIDAR S2E supports three scan modes The Sensitivity mode can output range angle and intensity information as well as internal lidar time stamps for each 96 point cloud data For details please refer to the communication protocol documents on the official website Figure 3 6 Scan Mode Selection 6 After starting lidar scanning you can click to adjust the speed Please che...
Страница 14: ...guration is complete For SDK see setLidarIpConf and reset Figure 3 8 IP Configuration 8 Click to download single point cloud data ROS ROS2 Usage 1 Please refer to https github com Slamtec rplidar_ros for ROS and run roslaunch rplidar_ros view_rplidar_s2e launch to perform visual tests 2 Please refer to https github com Slamtec sllidar_ros2 for ROS2 and run ros2 launch sllidar_ros2 view_sllidar_a3_...
Страница 15: ...ion is sensitive to the ambient temperature Improper use may even damage the sensor Please avoid using RPLIDAR in extreme high temperature 50 and too low temperature 10 Ambient Light Compared with RPLIDAR A series RPLIDAR S2E performs better to resist ambient light interference which supports it to work properly in outdoor environment Maintenance and Repairs Please do not open the shell of the equ...
Страница 16: ...16 17 Copyright c 2009 2017 RoboPeak Team Copyright c 2013 2017 Shanghai Slamtec Co Ltd Revision History Date Version Description 2022 06 01 1 0 RPLIDAR S2E initial version ...
Страница 17: ... FIGURE 2 7 LIDARS PLUGIN WORK INTERFACE OF ROBOSTUDIO 8 FIGURE 2 8 THE SUPPORTED COMMANDS OF RPLIDAR IN ROBOSTUDIO 9 FIGURE 2 9 THE SCAN OUTLINE BY RPLIDAR IN ROBOSTUDIO 9 FIGURE 2 10 THE MOTOR SPEED ADJUSTMENT DIALOGUE OF RPLIDAR IN ROBOSTUDIO 10 FIGURE 3 1 RPLIDAR S2E POWER SUPPLY SPECIFICATION 11 FIGURE 3 2 RPLIDAR S2E POWER SUPPLY SPECIFICATION 12 FIGURE 3 3 SELECTION INTERFACE OF LIDAR CONNE...
