RS-LiDAR-32 User Manual
RS-LiDAR-32 User Manual Revision History Revision Content Date Edited by 1.0 Initial release 2017-11-20 PD 1.1 Fill in the content according to RS-LiDAR-32 2017-11-28 PD 1.2 Update the RS-LiDAR information and data port setting 2017-12-13 PD 2018-08-03 PD 2019-04-24 PD 2019-6-10 PD 2019-07-10 PD Update the protocol description of DIFOP 2.0 Synchronize the common functions of RS-LiDAR-32.
RS-LiDAR-32 User Manual and later versions. For radars of previous versions of V2.0, please refer to the manual of version 2.2. Modify the definition and schematic diagram of the aviation connector Add the cleaning reminder in harsh environment. Add description of replacing LiDAR configuration file in Ubuntu system Adapted to the V2.0 version of the LiDAR, at the accurate point time calculation in Appendix A, the transmission interval between the channels of the device is changed from 3μs to 2.
RS-LiDAR-32 User Manual TABLE OF CONTENTS 1 Safety Notices........................................................................................................................................................1 2 Introduction.............................................................................................................................................................2 3 Product Specifications......................................................................................................
RS-LiDAR-32 User Manual 7.2 Phase Lock............................................................................................................................................... 23 8 Point Cloud...........................................................................................................................................................24 8.1 Coordinate Mapping................................................................................................................................24 8.
RS-LiDAR-32 User Manual C.3 Set up Network........................................................................................................................................ 51 C.4 Visualize Streaming Sensor Data........................................................................................................ 51 C.5 Capture Streaming Sensor Data to PCAP File.................................................................................. 52 C.6 Replay Captured Sensor Data from PCAP File........
RS-LiDAR-32 User Manual Terminologies MSOP Main Data Stream Output Protocol DIFOP Device Info Output Protocol UCWP User Configuration Write Protocol Azimuth Horizontal angle of each laser firing Timestamp The marker that records the system time Header The starting part of the protocol packet Tail The ending part of the protocol packet VI
RS-LiDAR-32 User Manual Congratulations on your purchase of a RS-LiDAR-32 Real-Time 3D LiDAR Sensor. Please read carefully before operating the product. Wish you a pleasurable product experience with RS-LiDAR-32. 1 Safety Notices To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Laser safety - The laser safety complies with IEC 60825-1:2014 Read Instructions - All safety and operating instructions should be read before operating the product.
RS-LiDAR-32 User Manual 2 Introduction RS-LiDAR-32, launched by RoboSense, is the first of its kind in China, world leading 16-beam miniature LiDAR product. Its main applications are in autonomous driving, robot-environment perception and UAV mapping. RS-LiDAR-32, as a solid-state hybrid LiDAR, integrates 32 laser/detector pairs mounted in a compact housing.
RS-LiDAR-32 User Manual 3 Product Specifications1 Table 1: Product Parameters. Time of Flight Distance Measurement 32 Channels Measurement Range: 40 cm to 200 m (on 20% reflectivity target)2 Accuracy: ±3 cm (typical)3 Sensor Field of View (Vertical): -25°~+15° Angular Resolution (Vertical): at least 0.33° Field of View (Horizontal): 360° Angular Resolution (Horizontal/Azimuth): 0.1°(5Hz) to 0.
RS-LiDAR-32 User Manual Power Consumption: 13.5 W (typical)4 Operating Voltage: 9-32 VDC (with Interface Box and Regulated Power Supply) Mechanical/ Electrical/ Operational Weight: 1.13 Kg (without cable) Dimensions: 114 mm Diameter X 108.
RS-LiDAR-32 User Manual 4 Connections 4.1 Power When equipped with an interface box, the device requires a voltage range of 9-32 VDC, and 12 VDC is recommended. If the interface box is not used for the LiDAR, a regulated 12 VDC must be used. and the V2.0 and later versions of the LiDAR integrate the wide-voltage function internally, so you can continue to use 9-32VDC. The power consumption of the device is about 13.5W (typical). 4.
RS-LiDAR-32 User Manual The RS-LiDAR-32 has a type that uses the aviation connector. The cable length between the LiDAR and the aviation connector is 1 meter.
RS-LiDAR-32 User Manual PIN No. V2.0 and later versions Other versions 1 GPS PULSE GPS REC 2 +5V GPS PULSE 3 GND GND 4 GPS REC NC 5 GND NC 6 NC +5V Figure 4: Interface Definition on Interface BOX. Note: When RS-LiDAR-32 connects its grounding system with an external system, the external power supply system should share the same grounding system with that of the GPS. On the Interface BOX, the red light indicator means standard power input, and the green one means standard power output.
RS-LiDAR-32 User Manual 4.4 Interface Box Connection Figure 5: Interface Box connection diagram.
RS-LiDAR-32 User Manual 5 Communications Protocols RS-LiDAR-32 adopts UDP protocol and communicates with computer through 100Mbps Ethernet. There two different kinds of UDP output packets: MSOP packets and DIFOP packets. The UDP protocol packet in this manual is of 1290 byte long, and consists of a 1248-byte payload and a 42-byte header. The IP address and port number of RS-LiDAR-32 is set in the factory as shown in the Table 2, but can be changed by the user as needed.
RS-LiDAR-32 User Manual 5.1 MSOP I/O type: device output data, computer parse data. Default port number is 6699. MSOP outputs data information of the 3D environment in packets. Each MSOP packet is 1248 bytes long and consists of reported distance, intensity, azimuth and a time stamp. Each RS-LiDAR-32 MSOP packet payload is 1248 byte long and consists of a 42-byte header and a 1200-byte data field containing 12 blocks of 100-byte data records and a 6-byte tail.
RS-LiDAR-32 User Manual The basic data structure of a MSOP packet for dual return is as shown in Figure 7.
RS-LiDAR-32 User Manual Table 4: LiDAR Model Flag. LiDAR Model (1 byte) 0x01 RS-LiDAR-16 0x02 RS-LiDAR-32 5.1.2 Data Field Data field comprises data blocks that contain valid measurement data. Each data filed contains 12 blocks. Each block is 100-byte long and is a complete measurement data set. Each data block begins with a 2-byte start identifier “0xffee”, then a 2-byte azimuth value (rotational angle). Each azimuth value records 32 sets of channel data reported by the 32 laser channels.
RS-LiDAR-32 User Manual Table 5: Channel Data. Channel Data N (3 byte) 2-byte Distance Flag [15] Distance1 [14:8] 1 byte Reflectivity Distance2 [7:0] Reflectivity The 2-byte distance data is set in centimeter. The distance resolution is 1 centimeter. The following shows how to parse channel data.
RS-LiDAR-32 User Manual Hence, the distance measured is 168.04m. Reflectivity data records relative reflectivity (more definition on reflectivity, please refer to description on calibrated reflectivity in chapter 10 of this manual). Reflectivity data reveals the reflectivity performance of the system in real measurement environments, it can be used in distinguishing different materials. 5.1.
RS-LiDAR-32 User Manual Figure 10: 0.5cm resolution MSOP Data Block. 5.2 DIFOP I/O type: device output, computer read. Default port number is 7788. DIFOP is a protocol that reports and outputs only device information including the device serial number, firmware version, driver compatibility, internet setting, calibration data, electrical machine setting and operation status, fault detection information to users. It is a viewer for users to get comprehensive details about the device.
RS-LiDAR-32 User Manual 4 Reserved 36 2 5 Motor phase lock (MOT_PHASE) 38 2 6 Top board firmware version (TOP_FRM) 40 5 45 5 7 Tail Bottom board firmware version (BOT_FRM) 8 Reserved 50 240 9 Intensity scale 290 1 10 Intensity Mode 291 1 11 Serial number (SN) 292 6 12 Zero angle offset 298 2 13 Return mode 300 1 14 Upper computer compatibility 301 2 15 UTC time (UTC_TIME) 303 10 16 Operation status (STATUS) 313 18 17 Reserved 331 11 18 Fault diagnos
RS-LiDAR-32 User Manual 5.3 UCWP I/O type: computer writes into the device. Function: user can reconfigure Ethernet connection, time and some parameters of the device. Each UCWP Packet is 1248 byte long, and is comprised of an 8-byte Header and a 40-byte data field. The UCWP packet structure is as shown in Table 8 below: Table 8: UCWP Packet. No.
RS-LiDAR-32 User Manual Motor phase lock: 90 degree User can reset the above information by following the example in Table 9. Table 9: Setting of UCWP Packet. Information Content Setting 0xAA,0x00,0xFF,0x11, Header Rotate Speed 0x22,0x22,0xAA,0xAA 600 rpm 0x02, 0x58 Length(byte) 8 2 0xC0 LiDAR IP (LIDAR_IP) 0xA8 192.168.1.105 0x01 4 0x69 0xC0 Destination PC IP (DEST_PC_IP) 0xA8 192.168.1.
RS-LiDAR-32 User Manual Motor Phase Lock Second:30 0x1E Millisecond: 100 0x00,0x64 Microsecond: 200 0x00,0xC8 90 0x005A 2 While setting the device and computer according to this protocol, it is imperative to set all the information listed in the table above. Addressing or writing in with part of the information will lead to invalid setting.
RS-LiDAR-32 User Manual 6 GPS Synchronization RS-LiDAR-32 supports external GPS receiver connections. With GPS connections, we can synchronize the RS-LiDAR-32 system time and pack the GPRMC message into DIFOP packets. 6.1 GPS Synchronization Theory The GPS receiver keeps generating synchronization Pulse Per Second (PPS) signal and GPRMC message and send them to the sensor.
RS-LiDAR-32 User Manual GPS is 3.3V power supply. Also please do not input the power into the +5V pin because the pin is an output.) Pin GND provide the ground connection for GPS module. The GPS module should set to 9600bps baud rate, 8-bit data bit, no parity and 1 stop bit. RS-LiDAR-32 only read the GPRMC message from GPS module.
RS-LiDAR-32 User Manual 7 Key characteristics 7.1 Return Mode 7.1.1 Return Mode Principle RS-LiDAR-32 supports multiple return modes: Strongest return, Last return, and Dual return modes. When set to dual return mode, the details of the target will be enhanced, and the number of point is twice than that of a single return. Due to the divergence of the beam, it is possible to generate multiple laser returns with one laser emission. When the laser pulse is emitted, its light spot gradually becomes larger.
RS-LiDAR-32 User Manual Table 10: Return mode and flag bit comparison table. Flag Position Return Mode 00 Dual Returns 01 Strongest Return 02 Last Return 7.2 Phase Lock When using multiple RS-LiDAR-32 sensors in proximity to one another, users may observe interference between them due to one sensor picking up a reflection intended for another. To minimize this interference, RS-LiDAR-32 provides a phase-locking feature that enables the user to control where the lase firings overlap.
RS-LiDAR-32 User Manual 8 Point Cloud 8.1 Coordinate Mapping RS-LiDAR-32 exports data packet that contains azimuth value and distance data. But to present a 3-dimensional point cloud effect, a transformation of the azimuth value and distance data into x, y, z coordinates in accordance to Cartesian Coordinate System is necessary.
RS-LiDAR-32 User Manual 8.2 Point Cloud Presentation In a circular arena, as the RS-LiDAR-32 rotates, the scanning path of the 32 laser beams plots 32 conical scanning surfaces with some face upward and other face downward, and the point cloud produced are the section line between these conical surfaces and the floor which are circles. While in non-circular environments, the point cloud produced are the section lines of the conical surfaces and the surface of objects.
RS-LiDAR-32 User Manual angle presents same slope, the value of y determines the width between scanning contours. x r cos() cos( ); y r cos() sin( ); z r sin(); x 2 y 2 z 2 cos 2 ( ) / sin 2 ( ) z2 x2 1 ( y tan( )) 2 y 2 Figure 16: Hyperbolic Function.
RS-LiDAR-32 User Manual 9 Laser Channels and Vertical Angles RS-LiDAR-32 has a vertical field of view of -25°to +15°with a non-uniform distribution. The 32 laser heads also called as 32 channels. The laser channels and their designated vertical angles are as shown in the Table 11 or Table 12 However, a lot of elements in the assembling process will lead to slight divergence between the actual angle of laser channels and their ideal angle.
RS-LiDAR-32 User Manual Table 11: Laser Channel Number and Their Designated Vertical Angle (A group ahead). Laser Channel No. Vertical Angle Horizontal Offset Angle 1 -10.281 8 2 -6.424 8 3 2.333 8 4 3.333 -8 5 4.667 8 6 7.000 -8 7 10.333 8 8 15.000 -8 9 0.333 -8 10 0.000 -2.672 11 -0.333 2.672 12 -0.667 8 13 1.667 -8 14 1.333 -2.672 15 1.000 2.672 16 0.667 8 17 -25.000 -8 18 -14.638 -8 19 -7.910 -8 20 -5.407 -8 21 -3.667 -8 22 -4.000 -2.
RS-LiDAR-32 User Manual 24 -4.667 8 25 -2.333 -8 26 -2.667 -2.672 27 -3.000 2.672 28 -3.333 8 29 -1.000 -8 30 -1.333 -2.672 31 -1.667 2.672 32 -2.000 8 Table 12: Laser Channel Number and Their Designated Vertical Angle (B group ahead). Laser Channel Ideal Vertical Angle No. Ideal Horizontal Offset Angle 1 -25.000 -8 2 -14.638 -8 3 -7.910 -8 4 -5.407 -8 5 -3.667 -8 6 -4.000 -2.672 7 -4.333 2.672 8 -4.667 8 9 -2.333 -8 10 -2.667 -2.672 11 -3.000 2.
RS-LiDAR-32 User Manual 14 -1.333 -2.672 15 -1.667 2.672 16 -2.000 8 17 -10.281 8 18 -6.424 8 19 2.333 8 20 3.333 -8 21 4.667 8 22 7.000 -8 23 10.333 8 24 15.000 -8 A 25 0.333 -8 26 0.000 -2.672 27 -0.333 2.672 28 -0.667 8 29 1.667 -8 30 1.333 -2.672 31 1.000 2.672 32 0.667 8 Every sequence of 32 laser firings consumes 55.5us.
RS-LiDAR-32 User Manual 10 Calibrated Reflectivity RS-LiDAR-32 produces calibrated reflectivity data of objects. Reflectivity of object is largely determined by the property of objects. Reflectivity therefore is an important information for LiDAR to distinguish objects. RS-LiDAR-32 reports reflectivity values from 0 to 255 with 255 being the reported reflectivity for an ideal reflector.
RS-LiDAR-32 User Manual To calculate each point intensity, we need use the intensity value from MSOP packet and the values from the calibrated reflectivity file. The calibrated reflectivity file can be found from the U disk (path: configuration_data/curves.csv). The calculate code is suggested to refer to the function calibrateIntensity( ) in rawdata.cc from RS-LiDAR-32 ROS package.
RS-LiDAR-32 User Manual 11 Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Interface BOX red LED Verify the power connection and polarity doesn’t light or blink Verify the power supply satisfy the requirement (at least 3A @ 12V) Interface BOX red LED lights on but green LED Verify the connection between Interface BOX and LiDAR is solid.
RS-LiDAR-32 User Manual Is there excessive traffic and/or collisions on network? Are excessive broadcast packets from another service being received by the sensor? This can slow the sensor down. Is the computer fast enough to keep up with the packet flow coming from the sensor? Remove all network devices and test with a computer directly connected to the sensor. Check baud rate is 9600 and serial port set to 8N1 (8 bits, no parity, 1 stop bit).
RS-LiDAR-32 User Manual Appendix A ▪ Point Time Calculate A.1 RS-LiDAR-32 Calculation of time stamp in single mode In each MSOP packet, there are 12 blocks, each block has one sequence for the whole 32 laser firings, so in a MSOP packet, there are 12 groups for the whole 32 laser firings. At every firing moment, there are two lasers firing together, all 32 lasers are fired and recharged every 55.52 µs. The cycle time between firing is 1.44 µs. There are 32 firings (32 x 1.44 µs = 46.08 µs).
RS-LiDAR-32 User Manual Set the channel number data_index is 1~32, sequence_index is 1~12. Because the time stamp is the time of the first data point in the packet, you need to calculate a time offset for each data point and then add this offset to the time stamp. Time offset is: Time_offset = 55.52 * (sequence_index - 1) + 2.88 * mod((data_index – 1) , 16) floor(data_index / 16) To calculate the exact point time, add the Time_Offset to the timestamp: Exact_point_time = Timestamp + Time_offset 36 + 1.
RS-LiDAR-32 User Manual A.2 RS-LiDAR-32 Calculation of time stamp in dual mode In dual mode, for each MSOP packet, there are 12 blocks. Each two block has one sequence for the whole 32 laser firings, e.g. Block 1 and Block 2 are two captured return signals after all 32 lasers emitting once, Block 1 is the strongest return signal, block 2 is the second strongest return signal. Table A-2: Time Offset for Each Channel in dual Return Mode. Set the channel number data_index is 1~32, sequence_index is 1~12.
RS-LiDAR-32 User Manual To calculate the exact point time (Exact_point _time), add the Time_Offset to the timestamp: Exact_point _time = Timestamp + Time_offset Note: mod is an operator that divides two numbers and returns only the remainder. floor is an operator that returns an integer less than the argument or equal to it.
RS-LiDAR-32 User Manual Appendix B ▪ Information Registers Here are definitions and more details on information registers as mentioned in Section 5. B.1 Motor(MOT_SPD) Motor Speed(2 bytes in total) Byte No. byte1 Function byte2 MOT_SPD Register description: (1) This register is used to set the rotation direction and rotation speed. (2) The data storage format adopts big endian format.
RS-LiDAR-32 User Manual (3) MAC_ADDR is the LiDAR MAC Address. (4) port1~port4 signals the number of ports. Port1 is MSOP Port Number of LiDAR for outputting packet and port2 is the destination PC Port Number for receiving MSOP packet. Port3 is DIFOP Port Number of LiDAR for outputting packet and port4 is the destination PC Port Number for receiving DIFOP packet. By default, Port1 and port2 are same, port3 and port4 are same. B.3 FOV Setting (FOV SET) FOV Setting( 4bytes in total) Byte No.
RS-LiDAR-32 User Manual B.5 Top Board Firmware (TOP_FRM) TOP_FRM(5bytes in total) Byte No. byte1 byte2 Function Byte3 Byte4 Byte5 TOP_FRM Register description: If our top board firmware revision is T6R23V6_T6_A, then TOP_FRM will output 06 23 06 06 A0. In the output, the A represents release version Application, while the F represents factory version Factory. B.6 Bottom Board Firmware (BOT_FRM) BOT_FRM(5bytes in total) Byte No.
RS-LiDAR-32 User Manual B.9 UTC Time(UTC_TIME) UTC Time (10 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 Function year month day hour min sec Byte No. byte9 byte10 bit3 bit2 Function byte7 byte8 ms μs Register description: (1) Year set_year Byte No. bit7 Function bit6 bit5 bit4 bit1 bit0 set_year[7:0]: data 0~255 corresponds year 2000 to year 2255. (2) month set_month Byte No.
RS-LiDAR-32 User Manual (5) Min set_min Byte No. bit7 bit6 Function reserve reserve bit5 bit4 bit3 bit2 bit1 bit0 bit1 bit0 bit9 bit8 set_min[5:0]: 0~59 min (6) Sec set_sec Byte No. bit7 bit6 Function reserve reserve bit5 bit4 bit3 bit2 set_sec[5:0]: 0~59 sec (7) ms set_ms Byte No. bit15 bit14 bit13 bit12 bit11 bit10 Function reserve reserve reserve reserve reserve reserve Byte No.
RS-LiDAR-32 User Manual B.10 STATUS Status (18bytes in total) Byte No. byte1 Function byte2 byte4 Idat1_reg Byte No. byte9 Function Vdat_12V_M_reg Byte No. 17byte Function byte3 byte10 byte5 byte6 Idat2_reg byte11 byte12 Vdat_5V_reg byte13 byte7 byte8 Vdat_12V_reg byte14 Vdat_3V3_reg byte15 byte16 Vdat_2V5_reg 18byte Vdat_1V2_reg Register description: (1) Idat1 is sensor power supply current, Idat2 is top board power supply current. We use Idat to represent Idat1 or Idat2.
RS-LiDAR-32 User Manual B.11 Fault Diagnosis Fault Diagnosis (40bytes in total) Byte No. byte1 byte2 byte3 byte4 Function Byte No. Function byte6 byte7 byte8 byte14 byte15 byte16 reserve byte9 Function Byte No. byte5 byte10 reserve byte17 byte11 cksum_st byte18 temperature1_reg Byte No. byte25 byte26 Function temperature5_reg Byte No.
RS-LiDAR-32 User Manual ⹉݀ ⹉݀ ͍݀ ⹉ ͍݀耀 䀀 ͍݀ ⹉ ͍݀ 耀吾= 晦 耀吠 耀䁙a ⹉݀ ͍݀ ⹉ ͍݀ 耀吾= 晦 耀吠 ⹉݀ ⹉݀ ͍݀ ⹉ ͍݀ 耀吾晦 ͍݀ ⹉ ͍݀ 耀吾晦 耀 Temperature5 represents bottom board tempreture. The temperature register contains 2 bytes to be temperature_reg[15:0]. temperature_reg[15:12] is invalid.
RS-LiDAR-32 User Manual B.13 Corrected Vertical Angle (COR_VERT_ANG) Corrected Vertical Angle(96bytes) Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No. Function Byte No.
RS-LiDAR-32 User Manual (2) The first byte 0x00 represents positive while 0x01 represents negative. (3) LBS=0.001; (4) For example the register for vertical angle of Channel 1is as below: byte1=0x01, byte2=0x28 convert to decimal is 40, byte3=0x29 convert to decimal is 41, so the vertical angle of Channel 1 is: -(40*256+ 41) *0.001=-10.281 B.14 Corrected Horizontal Offset Angle (COR_HOR_ANG) Corrected horizontal offset Angle(96bytes) Byte No. Function byte No. Function byte No. Function byte No.
RS-LiDAR-32 User Manual Function Byte No. Function Channel 28_HOR_ANG byte91 byte92 byte93 Channel 31_HOR_ANG Channel 29_HOR_ANG byte94 byte95 Channel 30_HOR_ANG byte96 Channel 32_HOR_ANG Register description : (1) The angle value is signed integer, vertical angle for each channel is consist of 3 bytes, while the first byte represents the sign, the second byte and the third byte represent the value for the angle. (2) The first byte 0x00 represents positive while 0x01 represents negative.
RS-LiDAR-32 User Manual Appendix C ▪ RSView This appendix gets you started with RSView. It shows you how to use the application to acquire, visualize, save, and replay sensor data. You can examine sensor data with other free tools, such as Wireshark or tcp-dump. But to visualize the 3D data, use RSView. It’s free and relatively easy to use. The version used this time is RSView3.1.5. C.1 Features RSView provides real-time visualization of 3D LiDAR data from RoboSense LiDAR sensors.
RS-LiDAR-32 User Manual C.3 Set up Network As mentioned in the RS-LiDAR-32 User’s Manual, the default IP address of the computer should be set as 192.168.1.102, sub-net mask should be 255.255.255.0. You should make sure that RSView does not be shielded by firewall in the computer. C.4 Visualize Streaming Sensor Data 1. Connect the sensor to your computer and power it up. 2. Right Click to start the RSView application with Run as administrator. 3. Click on File > Open and select Sensor Stream (Figure C-1).
RS-LiDAR-32 User Manual 5. RSView begins displaying the sensor data stream (Figure C-3). The stream can be paused by pressing the Play button. Press it again to resume streaming. Figure C-3: RSView Sensor Stream Display. C.5 Capture Streaming Sensor Data to PCAP File 1. Click the Record button when streaming (Figure C-4). Figure C-4: RSView Record Button. 2. A Choose Output File dialog will pop up. Navigate to where you want the file to be saved and click the Save button (Figure C-5).
RS-LiDAR-32 User Manual Figure C-5: RSView Record Saving Dialog. 3. Recording will continue until the Record button is clicked again, which stops the recording and closes the pcap file. C.6 Replay Captured Sensor Data from PCAP File To replay (or examine) a pcap file, open it with RSView. You can press Play to let it run, or scrub through the data frames with the Scrub slider. Select a set of 3D rendered data points with your mouse and examine the numbers with a Spreadsheet sidebar. 1.
RS-LiDAR-32 User Manual 2. An Open File dialog will pop up. Navigate to a pcap file, select it, and click the Open button. Figure C-7: Select the PCAP file. 3. The Sensor Configuration dialog will pop-up. Select your sensor configuration folder and click OK. 4. Press Play to replay/pause the data stream. Use the Scrub slider tool (it looks like an old-fashioned volume slider) to move back and forth through the data frames. Both controls are in the same toolbar as the Record button (Figure C-8).
RS-LiDAR-32 User Manual 6. Adjust the columns to get a better view of the numbers. If you’ve adjusted columns in Excel, some of this will be familiar. You can change column widths by dragging the column header divider left or right, and by double-clicking them. Drag column headers left or right to reorder them. Sort the table by clicking column headers. And you can make the table itself wider by dragging the table’s sides left or right. Make Points_m_XYZ wider to expose the XYZ points themselves.
RS-LiDAR-32 User Manual Figure C-13: RSView List Selected Points. 10. At any point you can save a subset of data frames by doing File > Save As > Select Frames. C.7 RS-LiDAR-32 Factory Firmware Parameters Setting RSView provide a tool which integrates UCWP function. We can use this tool to modify Rotation Speed, Network and Time in the RS-LiDAR-32 factory firmware 1. We need connect RS-LiDAR-32 to the PC and confirm we can view the real time data. Then click Tools > RS-LiDAR Information. 2.
RS-LiDAR-32 User Manual 3. We can modify the parameters to the ones we want to have, then click Set LiDAR. We need re-power and connect the RS-LiDAR-32 to make the modified parameters valid. After the device connecting again, we can use RSView to see the RS-LiDAR Information again to check if the modification take effect. Figure C-15: Set LiDAR information. Attention 1: Please do not power off the sensor when we are setting LiDAR information, it may cause the sensor internal parameters broken.
RS-LiDAR-32 User Manual Figure C-16: Data Port Setting. C.9 Firmware Online Update Before begin firmware online update, we need make sure the RS-LiDAR-32 is working normally, that means we can view the point cloud and get LiDAR information in RSVIEW. Click Tools > Online Update, we can select the top board firmware update and bottom board firmware update as shown in Figure C-18. Figure C-17: Online Update. For example, when we choose “Bottom Board Update”, we need direct to choose the .
RS-LiDAR-32 User Manual Figure C-18: Select the Firmware for Update. Figure C-19: Online Update Successful. C.10 Fault Diagnosis Before begin firmware online update, we need make sure the RS-LiDAR-32 is working normally, that means we can view the point cloud and get LiDAR information in RSVIEW. Click Tools > Fault Diagnosis, the Fault Diagnosis window will pop up.
RS-LiDAR-32 User Manual Figure C-20: Fault Diagnosis.
RS-LiDAR-32 User Manual Appendix D ▪ RS-LiDAR-32 ROS Package This appendix describes how to use ROS to view the RS-LiDAR-32 data. D.1 Prerequisite 1. Download and install Ubuntu 16.04. 2. Please refer the link (http://wiki.ros.org/ kinetic/Installation/Ubuntu) to install the ROS kinetic version. 3. Download and install libpcap-dev. D.2 Install RS-LiDAR-32 ROS Package 1. Create the work space for ros: cd ~ mkdir -p catkin_ws/src 2. Copy the ros_rslidar_package into the work space ~/catkin_ws/src.
RS-LiDAR-32 User Manual D.4 View the real time data 1. Connect the RS-LiDAR-32 to your PC via RJ45 cable, and power on it. 2. We have provided an example launch file named “rs_lidar_32.launch” under rslidar_pointcloud/launch to start the node, we can run the launch file to view the real time point cloud data. Open a terminal: cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_pointcloud rs_lidar_32.launch 3. Open a new terminal: rviz Set the Fixed Frame to "rslidar".
RS-LiDAR-32 User Manual PAGE 71RS-LiDAR-32 User Manual 2. Open an teminal: cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_pointcloud rs_lidar_32.launch 3.
RS-LiDAR-32 User Manual Appendix E ▪ Dimensions Figure E - 1: Dimension Drawing of RS-LiDAR-32.
RS-LiDAR-32 User Manual Appendix F ▪ LiDAR Mechanical Installation Suggestion Please make sure the platform surface used for mount LiDAR is smooth as possible. Please make sure the locating pin on the mount surface do exceed 4 mm high. The material of the mount platform is suggested to be aluminum alloy in order to thermolysis.
RS-LiDAR-32 User Manual Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets According to the Chapter 5, RS-LiDAR-32 outputs MSOP packets and DIFOP packets. We can use the Wireshark software to filter the MSOP packets or DIFOP packets so that we can know which port number the packets send to. After that we can set the Data Port in the RSVIEW. We first need connect the RS-LiDAR-32 to the PC and power on the RS-LiDAR-32.
RS-LiDAR-32 User Manual Appendix H ▪ Sensor Clean H.1 Attention Please read through this entire Appendix H content before clean the RS-LiDAR. Improper handling can permanently damage it. When the sensor is used in a harsh environment, it is necessary to clean the it in time to keep its performance. H.2 Require Materials 1. Clean microfiber cloths 2. Mild, liquid dish-washing soap 3. Spray bottle with warm, clean water 4. Spray bottle with warm, mildly soapy water 5. Isopropyl alcohol H.
RS-LiDAR-32 User Manual
