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. |
| Port | COM0 | 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. |
| Baudrate | 256000 | Data transmission rate for serial connection |
| 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. |
| Minimum Life time (ms) | 0 | Minimum time a cluster must exist before being considered a cluster. This setting can help to reduce noise from reflections. |
| Process noise covariance (mm) | 1.0 | Error expected on position evaluation. |
| Measure noise covariance (mm) | 4.0 | Error expected on position measurement. |
| Positioning Algorithm | Centroid | Method to describe the position of a cluster. ● Centroid: Computes the average of all point coordinates to define the cluster coordinates ● Nearest point: Defines cluster’s position at the coordinates of the cluster’s nearest point to the origin ● Nearest point centroid: Computes an average like centroid but by using the (maximum) 8 nearest points to the origin |
| Bounding Box | OFF | Enable bounding box. |
Task action
| Action | Description |
|---|---|
| Enable | Enable the device. |
| Disable | Disable the device. |
| Start laser | Turn the laser of the device ON. |
| Stop laser | Turn the laser of the device OFF. |
| Start Record | Start a recording with the device. |
| Stop Record | Stop the recording with the device. |
| Start Playback | Start a playback of a recording with the device. |
| Start Loop Playback | Start a looped playback of a recording with the device. |
| Stop Playback | Stop any playback currently playing. |
Task trigger
This device has no actions that can trigger a Task.
Digimap trigger
This device has no actions that can trigger a Digimap.
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 for more information.
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