Slamtec RPLIDAR S2E Manuale utente

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）

4/ 17

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

5/ 17

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.

6/ 17

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".

8/ 17

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:

9/ 17

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

10 / 17

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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