How can I get data from RP LIDAR sensor with arduino?

Hello

I'm takamitsu.

I would like to ask about above question.

RP LIDAR sensor equip serial comunication(TX RX), So I thought it is possible to receive data using serial receive block.

I conected cable like attatched pdf, and drived arduino with my simulink model.(attatched model)

But, serial reseve block returned 0 state(that mean

unsuccess comunication), and I failed receive data from RP LIDAR.

So could you give me advice?

Answer 1

[FAUCHER Mickael]

Hello,

I have the same project and I can't receive information. I am not an expert with aruino board but I think the USB communication between computer and arduino use TX and RX pin. If you want create 2 serial communication (1 with RPLIDAR and 1 with the computer) you need create a virtual serial port with 2 digital pin (for the RPILARD) and use RX and TX for the computer.

Me I try to connect directly the computer and the RPLIDAR (without arduino). I create communication, but I can't command the RPLIDAR and I can't receive information.

If you succes to create communication, please help me.

[takamitsu hatakeyama]

Hello,

Thank you for your comment.

Please don't worry about serial port, because I use arduino MEGA(it's equip 4 serial comunication port).

I would like to share progress.

I succes to comunicate with RP LIDAR with arduino by using RP LIDAR driver distributed by robopeak showed bellow link.(but it's use arduino sketch,,,,,).Therefore, sensor is succesfully worked.

https://github.com/robopeak/rplidar_arduino

I can't make comunication using simulink yet,,,

[FAUCHER Mickael]

Hello,

Ok for the MEGA board, on the pdf is an UNO board.

I will try with the arduino sketch but this week I have a lot of work... I will comment if I succes something.

good luck

[FAUCHER Mickael]

I just look the arduino sketch. The baud rate on the RPLidar.h is 115200 and I think the default value on matlab is 9600, do you change the value on matlab or on the RPLidar.h?

[takamitsu hatakeyama]

I revised baud rate, and changed it's value to 115200.

I succesed to comunicate with RP LIDAR using arduino and simulink!!

(sireal read block return 1 state value. I didn't change simulink model I had attatched above except for baud rate.)

But value that block emit is weird,,,,,,

RP LIDAR emit [4X1] information as shown attatched PDF p6.

In my model, these value takes 0~ aprox 258 and vibratory.

I guess the problem is regard data type or sampling time.

(Now I use uint8 and 0.01s [block] 0.01s [arduino] )

My progress is now this point.

I have to work from tommorow and I will busy too this week,,,,,

So, see you again next weekend!

[FAUCHER Mickael]

I happy for you succes,

can you share your arduino sketch ?

thanks

[FAUCHER Mickael]

you will have more information on this pdf.

It explain the protocol of communication

good luck

[takamitsu hatakeyama]

Hi,

Thank you for your PDF.

I'll cheak.

and about my sketch, it don't different to https://github.com/robopeak/rplidar_arduino .

Answer 2

[FAUCHER Mickael]

I don't understand something, if it's the same the "simple_connect.ino", you have in this sketch the serial connection with the rplidar but you don't have the serial connection with the computer. How you can communicate without this serial connection?

Answer 3

[takamitsu hatakeyama]

Hi

Acutualy, I just added serial.print command like bellow.

Eventually, I gave up comunication with RP LIDAR using arduino and simulink,,,,,,

I decided that use arduino as driver of RP LIDAR, and send sensored value by IDE(sketch) to raspberry pi using serial.write command.

Regard to raspberry pi, I intend that I use simulink( raspberry pi simulink support package ), and in simulink environment, I wanna built SLAM algorithm.

I posted question about my new plan, So if you have time, please help me.

https://jp.mathworks.com/matlabcentral/answers/504483-how-can-i-receive-data-from-arduino-using-serial-read-block-rasberry-pi-simulink-support-package

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

void setup() {

// bind the RPLIDAR driver to the arduino hardware serial

lidar.begin(Serial1);

Serial.begin( 115200 );←use for serial communication with PC

// set pin modes

pinMode(RPLIDAR_MOTOR, OUTPUT);

}

void loop() {

if (IS_OK(lidar.waitPoint())) {

float distance = lidar.getCurrentPoint().distance; //distance value in mm unit

float angle = lidar.getCurrentPoint().angle; //anglue value in degree

bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan

byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement

Serial.println(distance); ← by this command, you can discribe value of distance on your IDE serial monitor.

}

~~~~~~~~~~~~~~~~~~~~~~~~~~

[Mingxin Bai]

Hello, I am using arduino due with rplidar a2, I have very tough time get the lidar start and read the data. Please see my code below if you could suggest me where I may did wrong. Much appreciated!

#include <RPLidar.h>

RPLidar lidar;

#define RPLIDAR_MOTOR 3

void setup()

{

// bind the RPLIDAR driver to the arduino hardware serial

lidar.begin(Serial2);

Serial2.begin(115200);

Serial.begin(115200);

//Serial1.begin(115200);

// set pin modes

pinMode(RPLIDAR_MOTOR, OUTPUT);

delay(500);

}

void loop()

{

lidar.stop();

if (IS_OK(lidar.waitPoint()))

{

float distance = lidar.getCurrentPoint().distance; //distance value in mm unit

float angle = lidar.getCurrentPoint().angle; //anglue value in degree

bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan

byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement

Serial.print(", distance: ");

Serial.print(distance);

Serial.print(", angle: ");

Serial.print(angle);

Serial.print(", startBit: ");

Serial.print(startBit);

Serial.print(", quality: ");

Serial.println(quality);

}

else

{

analogWrite(RPLIDAR_MOTOR, 0); //stop the rplidar motor

// try to detect RPLIDAR...

rplidar_response_device_info_t info;

if (IS_OK(lidar.getDeviceInfo(info, 100)))

{

// detected...

lidar.startScan();

// start motor rotating at max allowed speed

analogWrite(RPLIDAR_MOTOR, 155);

delay(100);

}

}

}