RpLidar.NET

A .NET Standard 2.0 library for communicating with SLAMTEC RPLidar sensors over a serial port.

Get Started View on GitHub

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What is RpLidar.NET?

RpLidar.NET is a cross-platform .NET library for reading 2D point-cloud data from SLAMTEC RPLidar sensors. It supports the full SLAMTEC serial protocol (v2.1) and exposes both a simple high-level API for quick projects and a rich low-level API for full control.

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Features

Feature	Details
Supported sensors	A1M8, A2M8, A3M1
Scan modes	Standard, Boost (Express), Sensitivity (Ultra-Capsule)
Architecture	Event-driven — subscribe to scan events, receive LidarPoint lists
Cross-platform	Windows, Linux, macOS, Raspberry Pi
Target framework	.NET Standard 2.0 (compatible with .NET 5/6/7/8, .NET Framework 4.x, Mono)
Package	Available on NuGet

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Quick Install

dotnet add package RpLidar.NET

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30-Second Example

using RpLidar.NET;

// Auto-connects and starts scanning
using var lidar = new RPLidar("COM3");

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

Console.ReadLine(); // Keep running

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Supported Hardware

Model	Scan Modes	Max Range
A1M8	Standard, Sensitivity	12 m
A2M8	Standard, Boost, Sensitivity	18 m
A3M1	Standard, Boost, Sensitivity	25 m

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Next Steps

• Getting Started — Installation, platform setup, and usage patterns
• API Reference — Every class, method, and property documented
• Support — Reporting bugs and requesting features