This is implemented based on Slamtech's RPLidar's implementation for Linux, MacOS, Win. This implementation works on ESP32 without PSRAM. It can read upto 8000 measurements per second without stalling.

I looked at a few implemenentations for Arduino and ESP32 but they didn't work for me for one reason or another. Here are some other implementation if you prefer them.

• SlamtecLidarESP32 - I would like to use this but needs ESP32 with PSRAM support. It also does very few measurements per second.
• ESP32_Arduino_RPLIDAR_S2
• an arduino (ESP32) library for the rplidar
• LiDAR Library for Arduino
• rplidar_arduino
• rplidar_sdk_arduino

Currently, there are the following functions implemented in the library

Start and Stop motor & scanning. Express Scan reads from sensor at 8000 measurements per sec. (Other scans are deprecated) read sensor health information read sensor information

RpLidar A1-M8 with 1.24 firmware with ESP-WROOM32, ESP-S3-WROOM-1-N16R8