RpLidar.NET 1.1.0

RpLidar.NET

A .NET library for interfacing with Slamtec RPLidar A-series LiDAR sensors over a serial connection. Tested with real hardware (A1M8). Targets netstandard2.0 — compatible with .NET 6, 7, 8, and .NET Framework 4.6.1+.

Supported Hardware

Installation

dotnet add package RpLidar.NET

Or via the NuGet Package Manager in Visual Studio: search for RpLidar.NET.

Quick Start

using RpLidar.NET;
using RpLidar.NET.Entities;

// Replace with your actual port:
//   Windows : "COM3"
//   Linux   : "/dev/ttyUSB0"
//   macOS   : "/dev/tty.usbserial-..."
using var lidar = new RPLidar("COM3");

lidar.LidarPointScanEvent += points =>
{
    foreach (var p in points)
        Console.WriteLine($"Angle: {p.Angle:F1}°  Distance: {p.Distance:F0} mm  Quality: {p.Quality}");
};

Console.WriteLine("Scanning — press Enter to stop.");
Console.ReadLine();

The RPLidar constructor connects, starts the motor, and begins scanning immediately. Scan data is delivered via LidarPointScanEvent approximately every 400 ms (configurable).

Scan Modes

Custom Configuration

Use RpLidarSerialDevice directly for full control:

using RpLidar.NET;
using RpLidar.NET.Entities;

var settings = new LidarSettings
{
    Port                = "COM3",
    BaudRate            = 115200,
    ScanMode            = ScanMode.Sensitivity,
    Pwm                 = 660,     // Motor speed: 0 (stop) – 1023 (full)
    MaxDistance         = 25000,   // mm — consumers can filter by this
    ElapsedMilliseconds = 400,     // Scan event fires at most every 400 ms
};

using var device = new RpLidarSerialDevice(settings);
device.LidarPointScanEvent += OnScan;
device.Start();

Console.ReadLine();
device.Stop();

static void OnScan(List<LidarPoint> points)
{
    Console.WriteLine($"{points.Count} points");
}

API Reference

RPLidar — high-level wrapper

RpLidarSerialDevice — low-level device

LidarPoint

LidarPointGroup

An angle-keyed collection (0.1° resolution) built from a batch of LidarPoint values. Useful for per-angle lookups:

// Nearest obstacle directly ahead
var ahead = group[0];   // angle = 0°
if (ahead != null)
    Console.WriteLine($"Obstacle at {ahead.Distance} mm");

Platform Notes

• Windows: Use COMn port names (e.g. COM3). The USB-UART adapter appears in Device Manager.
• Linux: Typically /dev/ttyUSB0. You may need to add your user to the dialout group:

  sudo usermod -aG dialout $USER
  

• macOS: /dev/tty.usbserial-* or /dev/tty.SLAB_USBtoUART.

Building from Source

git clone https://github.com/asheesh1996/RpLidar.NET.git
cd RpLidar.NET
dotnet build

Creating a NuGet package

dotnet pack RpLidar.NET/RpLidar.NET.csproj -c Release -o ./nupkg

The .nupkg file will be in ./nupkg/.

Publishing to NuGet.org

dotnet nuget push ./nupkg/RpLidar.NET.*.nupkg \
  --api-key YOUR_API_KEY \
  --source https://api.nuget.org/v3/index.json

License

MIT