Slamtec Rplidar s2e User manual

www .slam tec.com

ShanghaiSlam tec.C o.,Ltd

RPLIDAR S2E

Low Cost 360 Degree

Laser Range Scanner

Development Kit

User Manual

Model：S2E

2022-07-25 rev.1.0

 
 
 
CONTENTS ...................................................................................................................................................1 
OVERVIEW ...................................................................................................................................................3 
ITEMS IN THE DEVELOPMENT KIT .......................................................................................................................3 
CONNECTION AND USAGE .....................................................................................................................4 
CONNECTION .....................................................................................................................................................4 
NETWORK CONFIGURATION.....................................................................................................................4 
RUN DEMO APPLICATION ..................................................................................................................................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 

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RPLIDAR S2E development kit includes the matched tools used for

evaluating RPLIDAR’s performance and initial development. After connecting

the RPLIDAR S2E with PC via Network cable and connecting the power

adapter to the power supply and the power adapter 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:

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 192.168.11.2. The user Ethernet address cannot be

the same as that of RPLIDAR S2E.

Overview

S2E

Power transfer cable

（Left：5559-4P/5558-PT,

Right：DC5.5*2.1 Female）

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Device Connection

1) Connect the network port line of RPLIDAR S2E module provided in the

development kit to the PC, and connect the power cord to the power

supply through the power adapter and power adapter.

Figure 2-1 Connect RPLIDAR S2E

Network Configuration

Need to configure the Ethernet 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 the same network segment as the

lidar (the change is based on the default IP address of the lidar 192.168.11.2).

Connection and Usage

Power Supply Cable

（5557-4R）

Network Cable

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Figure 2-2 Network Configuration Under Windows

2) Linux/MacOs Network 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.

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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.

Currently the software needs to run on Windows, 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, and then right click on the

Lidars below the box area, the content of dialog box will be "Manual

Connect to Lidar... / Auto Discovery to Lidar...".

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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".

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Figure 2-6 Udp Connection Interface of RoboStudio

4) Or click on " Auto Discovery to Lidar... "Use the device discovery function

of RPLIDAR S2E to find the automatic detection 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 operations available for

RPLIDAR are listed in the toolbar:

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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.):

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.

（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

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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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.

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 15.14Hz.

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

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Power Supply Specification

The RPLIDAR S2E uses a unique external power supply to drive both the

range core and a motor system that makes the range core rotate. The

external system needs to ensure the current output capacity and ripple

characteristics of the power supply to ensure the normal operation of the

lidar. Please refer to Datasheet for details.

S2E

Min

Typical

Max

Comments

Power Voltage

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 to the website the SDK

user manual for details. (https://github.com/Slamtec/rplidar_sdk) This section

will briefly introduce the visual point cloud display Demo(Frame_Grabber) on

Windows.

1）Set frame_grabber to start the project and compile

SDK Introduction and Usage

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Figure 3-2 RPLIDAR S2E Power Supply Specification

2）Find frame_grabber.exe and double-click it under the path of

\output\win32\Debug or.\output\win32\Release. If an error occurs, copy the

DLL from dL. rar to the directory, 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 corresponding lidar device as shown in the figure, and click "OK".

Figure 3-4 Lidar Equipment Detection Function

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4）Click "OK" in Figure 3-3 and then click to scan point cloud, as shown

in Figure 3-5. For SDK, please refer to startScanExpress and

grabScanDataHq.

Figure 3-5 Point Cloud 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

check the SDK checkMotorCtrlSupport and setMotorSpeed.

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Figure 3-7 Lidar Speed Regulation

7）Click Command >IP Config to configure the IP address. As Figure 3-7

shows resetting the device after the configuration 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_launch.py to perform

visual tests.

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Please refer to Slamtec Github for details.

Pre-Heating for Best Performance

The scan core will be heating when start working. We recommend pre-

heating RPLIDAR (Start the scan mode and the scan motor is rotating) for

more than 2 minutes to get the best measurement accuracy.

Ambient Temperature

RPLIDAR’s measurement resolution 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 equipment for repair without

authorization, otherwise the warranty will be invalid.

Pay attention to keep the equipment shell clean during using to ensure the

normal operation of the lidar.

Operation Recommendation

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Revision History

Date

Version

Description

2022-06-01

1.0

RPLIDAR S2E initial version

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Image and Table Index

FIGURE 1-1 ITEMS IN THE RPLIDAR DEVELOPMENT KIT..................................................................................................... 3

FIGURE 2-1 CONNECT RPLIDAR S2E ........................................................................................................................ 4

FIGURE 2-2 NETWORK CONFIGURATION UNDER WINDOWS............................................................................................. 5

FIGURE 2-3 IP ADDRESS SETTING .............................................................................................................................................. 5

FIGURE 2-4 ROBOSTUDIO LOGIN PAGE.................................................................................................................................... 6

FIGURE 2-5 MANUAL CONNECTION MENU FOR ROBOSTUDIO......................................................................................... 7

FIGURE 2-6 UDP CONNECTION INTERFACE OF ROBOSTUDIO................................................................................... 7

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 CONNECTION.............................................................................................12

FIGURE 3-4 LIDAR EQUIPMENT DETECTION FUNCTION.......................................................................................... 11

FIGURE 3-5 POINT CLOUD DISPLAY INTERFACE ...................................................................................................... 12

FIGURE 3-6 SCAN MODE SELECTION........................................................................................................................ 13

FIGURE 3-7 LIDAR SPEED REGULATION.................................................................................................................... 11

FIGURE 3-8 IP CONFIGURATION ............................................................................................................................... 14

Appendix

Table of contents