Based on the official SDK Version 1.5.7 (initial commit).
Run make in the sdk/ folder.
This functionality is an extension over the original SDK. This can be helpful for debugging Lidar problems (range, various material reflection properties, etc), since the motor will not be spinning.
Run ./output/Linux/Release/raw_test /dev/<serial port> from the sdk/ folder (on Windows, change correspondingly).
The program will initialize communication with RPLidar, and continuously measure distance without spinning the motor. Your output should look something like this:
RPLIDAR S/N: FDED9AF0C5E29DD2B6E39DF57E3E3116
Version: 1.5.7
Firmware Ver: 1.22
Hardware Rev: 3
RPLidar health status : OK. (errorcode: 0)
waiting for data...
Quality: 12h Angle: 352.95 Dist: 01463.75
Quality: 12h Angle: 352.95 Dist: 01459.75
Quality: 12h Angle: 353.02 Dist: 01460.00
Quality: 16h Angle: 353.00 Dist: 01459.25
Quality: 12h Angle: 352.98 Dist: 01457.75
Quality: 12h Angle: 352.95 Dist: 01457.25
Quality: 12h Angle: 352.97 Dist: 01459.50
The Quality field is a raw 8-bit value returned by the firmware. Due to motor not spinning, it will lack the synchronization bit (bit 0). The reported scan angle can be ignored.
Note that the program will not report anything when the firmware has measured an invalid sample (usually out of range or too weak reflection). It will simply wait for a valid sample.