RPLidar

Namespace: RpLidar.NET

High-level wrapper that auto-connects, resets, and starts scanning on construction.

Table of Contents

1. Definition
2. Constructors
   1. RPLidar(string serialport, int baudrate = 115200)
3. Events
   1. LidarPointScanEvent
4. Methods
   1. Stop()
   2. Dispose()
5. Remarks
6. See Also

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Definition

public class RPLidar : IDisposable

RPLidar wraps RpLidarSerialDevice with sensible defaults. Construction immediately connects to the sensor and begins scanning using ScanMode.Sensitivity. Call Dispose() (or use a using statement) to stop the motor and close the serial port.

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Constructors

RPLidar(string serialport, int baudrate = 115200)

Creates a new RPLidar, connects to the sensor, and starts scanning.

Parameter	Type	Default	Description
serialport	string	—	Serial port name, e.g. "COM3" or "/dev/ttyUSB0"
baudrate	int	115200	Baud rate. RPLidar sensors default to 115 200.

Example

using var lidar = new RPLidar("COM3");
// Scanning has already begun

The constructor is blocking during the initial reset and calibration sequence. Expect ~1–2 seconds before the first LidarPointScanEvent fires.

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Events

LidarPointScanEvent

public event LidarPointScanEvenHandler LidarPointScanEvent;

Fired approximately every 400 ms (default ElapsedMilliseconds) with a list of LidarPoint measurements from the current sweep.

Signature

delegate void LidarPointScanEvenHandler(List<LidarPoint> points);

Parameter	Type	Description
points	List<LidarPoint>	All measurements in the current event window. Some may have IsValid = false.

Example

lidar.LidarPointScanEvent += points =>
{
    var valid = points.Where(p => p.IsValid).ToList();
    Console.WriteLine($"{valid.Count} valid points this sweep");
};

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Methods

Stop()

public void Stop()

Stops the scan and the motor. After calling Stop(), no further events will fire. You may call Dispose() afterwards.

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Dispose()

public void Dispose()

Stops scanning, stops the motor, and releases the serial port. Called automatically at the end of a using block.

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Remarks

• RPLidar always uses ScanMode.Sensitivity. For other scan modes or advanced settings, use RpLidarSerialDevice directly.
• The underlying serial thread is a background thread; your application will exit cleanly even if you forget to call Dispose().
• All event callbacks are raised on the background scan thread. Marshal to the UI thread if updating UI controls.

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See Also

• RpLidarSerialDevice — full low-level control
• LidarPoint — the measurement data type
• LidarSettings — configuring scan mode, PWM, and intervals