Slamtec RPLIDAR A2 Series Manuel utilisateur

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ShanghaiSlam tec.C o.,Ltd

RPLIDAR A2

Low Cost 360 Degree Laser Range Scanner

Development Kit User Manual

Model：A2M6、A2M7、A2M8

2019-10-23 rev.1.0

 
 
 
CONTENTS...................................................................................................................................................1 
OVERVIEW ...................................................................................................................................................3 
ITEMS IN THE DEVELOPMENT KIT ..................................................................................................................3 
RPLIDAR A2 ..............................................................................................................................................4 
USB ADAPTER .............................................................................................................................................4 
CONNECTION AND USAGE .....................................................................................................................5 
CONNECTION ...............................................................................................................................................5 
INSTALL DRIVER FOR THE USB ADAPTER ......................................................................................................5 
RUN DEMO APPLICATION.............................................................................................................................7 
TROUBLESHOOTING......................................................................................................................................9 
MOTOR SPEED ADJUSTMENT........................................................................................................................9 
SDK INTRODUCTION AND USAGE......................................................................................................11 
RPLIDAR A2 PIN DEFINITION AND SPECIFICATION ...................................................................................11 
PIN DEFINITION FOR THE USB ADAPTER ....................................................................................................12 
CONFIGURE RPLIDAR A2 SCAN FREQUENCY ............................................................................................12 
SDK USAGE ...............................................................................................................................................13 
OPERATION RECOMMENDATION.......................................................................................................14 
PRE-HEATING FOR BEST PERFORMANCE.....................................................................................................14 
AMBIENT TEMPERATURE.............................................................................................................................14 
AMBIENT LIGHT..........................................................................................................................................14 
REVISION HISTORY .................................................................................................................................15 
APPENDIX ..................................................................................................................................................16 
IMAGE AND TABLE INDEX ...........................................................................................................................16 
Contents 

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RPLIDAR A2 development kit includes the matched tools used for evaluating

RPLIDAR’s performance and initial development. After connecting the RPLIDAR

A2 with PC via USB cable and connecting the power adapter to the USB cable,

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:

oRPLIDAR（PWM motor driver embedded）

oUSB Adapter

oMicro-USB cable

oPower cable

Figure 1-1 Items in the RPLIDAR Development Kit

Overview

RPLIDAR

USB adapter

USB-DC Power

cable

Micro-USB

cable

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RPLIDAR A2

Figure 1-2 The RPLIDAR

The RPLIDAR A2 development kit contains standard RPLIDAR A2 unit. The

RPLIDAR is embedded with logic IO drivable motor controller which can be used

to configure the scan frequency by tuning motor speed. Developers can also

choose to turn off the motor for power saving purpose.

RPLIDAR usage and interface definition will be introduced in the coming sections.

USB Adapter

The USB adapter comes with a dial switch. It can be used to switch the Baud rate

from 115200 to 256000 or vice versa. Please note that the Baud rate should be set

as 256000 if the USB adapter is connected with RPLIDAR A2M7.And the Baud rate

should be set as 115200 if the USB adapter is connected with RPLIDAR A2M6 and

A2M8.

Figure 1-3 RPLIDAR Adapter

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Connection

RPLIDAR A2 can be easily connected to PC according to the following steps.

1) Connect RPLIDAR A2 with the USB adapter.

Figure 2-1 Connect RPLIDAR A2 and USB Adapter

2) Connect the USB adapter to your PC via the Micro-USB cable. If the PC is

on, after connecting the USB cable to your PC and connecting the power

adapter to the USB cable, the indicator light of the USB will light up but the

RPLIDAR will not start scanning.

Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable

Install Driver for the USB Adapter

The USB adapter converts UART to USB by using CP2102 chip. You need to install

the device driver for the chip. The driver can be found in the provided SDK

package or downloaded from Silicon Labs’official website:

http://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx

Here’s the installation steps in Windows: after connecting the RPLIDAR with PC,

please find the driver file “CP210x VCP Windows” and choose correct operating

system version accordingly: x86 for 32-bit OS and x64 for 64-bit OS.

Connection and Usage

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Figure 2-3 Choose USB Adapter Driver for Installation

Figure 2-4 Start Page of USB Adapter Driver Installation

After Installing the driver according to the above installation steps, you will see

corresponding serial port name in the [Control Panel] -> [Device and Printers].

Please refer to the below figure.

Figure 2-5 Recognized Serial Port Name Matched with the USB Adapter

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Run Demo Application

SLAMTEC provides a Lidars plugin in RoboStudio for users in test and evaluation.

You can view the scan result directly in the UI and save the scan result to files for

further processing.

This GUI demo can only run under Windows. For Linux and MacOS users, please

refer to the other simple demo provided in the SDK.

Please make sure you have connected RPLIDAR to PC by using USB adapter and

installed the device driver correctly before running the demo application in

RoboStudio. Launch RoboStudio and log in.

Figure 2-6 RoboStudio Login Page

If the connection is ok, you shall see the user interface is shown as below.

1. Click File->Lidars to open the lidar control panel in the left;

2. Click Serial Ports to extend the lidar lists and you’ll find the RPLIDAR A2

previously connected to your PC;

3. Click the RPLIDAR A2 icon to extend the tool buttons below the icon: the left

one is to adjust the motor speed while the right one is to open the tool bar in the

major work area as shown in Figure 2-7.

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Figure 2-7 The Lidar Plugin in RoboStudio

The serial number, version and model of the RPLIDAR A2 will show next with its

icon in the lidar control panel. The supported commands of RPLIDAR are showed

in the tool bar. The descriptions are listed in the bellow table.

Figure 2-8 The Supported Commands of RPLIDAR in RoboStudio

Press the Start Scan button ，the scan data will be displayed as below(by

default, the motor rotating speed should be about 10Hz.):

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 work

Work Mode Switch

Switch among different work modes to fit in specific

environments

Adjust Motor Speed

Adjust the motor speed as required

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Figure 2-9 The Scan Outline by RPLIDAR in RoboStudio

Right click in 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.

Troubleshooting

When the scan core or the laser power works abnormally, the scan core will enter

protection mode. This state can be retrieved via SDK API. If such scenario

happened, please send restart command to reset the scan core.

Motor Speed Adjustment

During the running process, different motor rotating speed can be achieved 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.

10 / 16

The current actual rotating speed will show in the upper left corner of the major

work area. For instance, the actual rotating speed in the following screenshot is

11.92Hz.

Figure 2-10 The Motor Speed Adjustment Dialogue of RPLIDAR in RoboStudio

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