Description
The Slamtec RPlidar S3 is a 360° laser range scanner for indoor and outdoor application.
It has a working range of up to 40m with low reflectivity at up to 15m and captures up to 32 000 samples per seconds.
Modulo Kinetic also supports the Slamtec RPlidar A3, a triangulation LiDAR with a working range of 25m and a sample rate of 16 000 samples/sec.
Settings
| Property | Default | Description |
|---|---|---|
| Name | RPLidar | User-friendly name. |
| Enable | ON | Activate to enable the device. |
| Run at startup | ON | Activate to enable the device at Kinetic startup. |
| Baudrate | 1000000 | Data transmission rate for serial connection |
| Port | 0 | Insert the serial port used by the device (1, 2, etc.). Check your Device Manager to know which COM Port is being used by your device. |
| Minimum points to create a Cluster | 2 | A cluster is a group of close points which have a position that will be tracked . This setting can help to reduce noise. |
| Cluster Expiration Time (ms) | 300 | Time before a cluster is dropped when it is not detected anymore. |
| Maximum Clustering Distance (mm) | 50 | Threshold for points close together to be considered as one cluster. |
| Tracking Move Threshold (mm) | 2 | Threshold under which movement is not considered movement but eliminated as noise. |
| Maximum Matching Distance (mm) | 600 | Threshold over which a cluster can’t be matched as being the same cluster after a movement. |
| Process noise covariance (mm) | 1.0 | Error expected on position evaluation. |
| Measure noise covariance (mm) | 25.0 | Error expected on position measurement. |
| Positioning Algorithm | Centroid | Method to describe the position of a cluster. |
| Bounding Box | OFF | Enable bounding box. |
Task action
| Action | Description |
|---|---|
| Enable device | Enable the device |
| Disable device | Disable the device |
| Start motor | Start RPLidar motor |
| Stop motor | Stop RPLidar motor |
| Start scan | Start laser scan |
| Start scan express | Start an express scan |
| Stop scan | Stop laser scan |
| Get info | Get laser info |
| Get health | Get laser state |
| Get sample rate | Get laser sample rate |
| Core reset | Reset the device |
Task trigger
This device has no actions that can trigger a Task.
Digimap trigger
N/A
Graph
| Action | Description |
|---|---|
| Detected Cluster Position | Receive detected clustered points by the device |
User interface
This device has no actions that can be launched from the UI designer.
Device information:
Go to the manufacturer website
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