RoboSense RS-LiDAR-16 User Manual
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RoboSense RS-LiDAR-16 User Manual

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Summary of Contents for RoboSense RS-LiDAR-16

  • Page 1 RS-LiDAR-16 User’s Manual...
  • Page 2 RS-LiDAR-16 User’s Manual Revision History Revision Content Time Edit Initial release 2017-03-01 Fill inthe content according to RS-LiDAR-16 1.0 2017-05-10 hardware. Modify the relatioship between laser channel and 2017-06-13 vertical angle Update the content according to RS-LiDAR-16 2.0 2017-07-17 hardware...
  • Page 3 RS-LiDAR-16 User’s Manual Add LiDAR installation suggestion...

  • Page 4: Table Of Contents

    RS-LiDAR-16 User’s Manual TABLE OF CONTENTS 1 Safety Notices................................ 6 2 Introduction................................7 3 Product Specifications............................8 4 Connections..............................9 4.1 Power................................9 4.2 Electrical Configuration..........................9 5 Communications Protocols..........................11 4.3 Electrical Interface............................9 5.1 MSOP................................11 5.1.1 Header............................12 5.1.2 Data Field............................13...
  • Page 5 C.7 RS-LiDAR-16 Factory Firmware Parameters Setting..................42 C.8 RSView Data Port............................43 C.10 Fault Diagnosis............................45 C.9 Firmware Online Update..........................44 Appendix D ▪ RS-LiDAR-16 ROS Package......................... 47 D.1 Prerequisite..............................47 D.2 Install RS-LiDAR-16 ROS Package........................ 47 D.3 Configure PC IP address..........................47 D.5 View the recorded pcap file offline......................
  • Page 6 RS-LiDAR-16 User’s 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...

  • Page 7: Safety Notices

    RS-LiDAR-16 User’s Manual Congratulations on your purchase of a RS-LiDAR-16 Real-Time 3D LiDAR Sensor. Please read carefully before operating the product. Wish you a pleasurable product experience with RS-LiDAR-16. 1 Safety Notices To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body.

  • Page 8: Introduction

    RS-LiDAR-16 User’s Manual 2 Introduction RS-LiDAR-16, 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, robots environment perception and UAV mapping. RS-LiDAR-16, as a solid-state hybrid LiDAR, integrates 16 laser/detector pairs mounted in a compact housing.

  • Page 9: Product Specifications

    RS-LiDAR-16 User’s Manual 3 Product Specifications Table 1 Product Parameters Sensor Time of Flight Distance Measurement 16 Channels Measurement Range: 20cm to 150m (on 20% reflectivity target) Accuracy: ±2cm (typical) Field of View (Vertical): ±15.0° (30° in total ) Angular Resolution (Vertical): 2°...

  • Page 10: Connections

    RS-LiDAR-16 User’s Manual 4 Connections 4.1 Power RS-LiDAR-16 can operate with 9 to 32 volt power. But standard 12 volt power is suggested. RS-LiDAR-16 requires 9 watts (typical) of power while operating. 4.2 Electrical Configuration RS-LiDAR-16 comes with an integral cable(power/data) that is permanently attached to the sensor and terminates at a standard SH1.1.25 wiring terminal.
  • Page 11 Interface BOX. (As shown in Figure 3.) Figure 3 Interface BOX Note: When RS-LiDAR-16 connects its grounding system with an external system, the external power supply system should share the same grounding system with that of the GPS.

  • Page 12: Communications Protocols

    1290 byte long, and consists of a 1248 byte payload and a 42 byte header. The IP address and port number of RS-LiDAR-16 is set in the factory as shown in the Table 2, but can be changed by the user as needed.

  • Page 13: Header

    RS-LiDAR-16 User’s Manual MSOP Packet（1248 byte） 42 byte 6byte 12*100byte= 1200byte data packet Tail Data block1 Data block 2 Data block 12 Header Data block n 0xffee 0xffee 0xffee 0xffee 4byte 42 byte reserve+ Azimuth12 2byte Azimuth 2 Azimuth n...

  • Page 14: Data Field

    Value is recorded by the encoder. The zero position on the encoder indicates the zero degree of azimuth value on RS-LiDAR-16. In one data block, there are 32 sets of laser data indicating two sequence of the 16 laser firings, however only every-other encoder angle is reported for alternate firing sequences.

  • Page 15: Tail

    RS-LiDAR-16 User’s Manual Endif; // Perform the interpolation Azimuth[2]:=Azimuth[1]+((Azimuth[3]-Azimuth[1])/2); // Correct for any rollover over from 359.99° to 0° If (Azimuth[2]>360) Then Azimuth[2]:= Azimuth[2]-360; Endif 5.1.2.3 Channel Data Channel data contains 3 bytes, with the upper 2 bytes store distance information, and the lower 1 byte contains reflectivity data.

  • Page 16: Demonstration Data

    RS-LiDAR-16 User’s Manual 5.1.4 Demonstration Data Figure 5 MSOP packet Figure 6 Data Block...

  • Page 17: Difop

    RS-LiDAR-16 User’s Manual 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.
  • Page 18 The Tail is 0x0F,0xF0. Statement: RS-LiDAR-16 doesn’t RTC system to support operation while power is off. In the case of no GPS or GPS signal, it is imperative to write time into the device through a computer, or it will use a default system time for clock.
  • Page 19 RS-LiDAR-16 User’s Manual 0x01 0x69 Destination PC IP 192.168.1.225 0xC0 0xA8 （DEST_PC_IP） 0x01 0xE1 Device MAC Address 001C23174ACC 0x00,0x1C,0x23, 0x17,0x4A,0xCC （MAC_ADDR） MSOP Port（port1） 6688 0x1A20 MSOP Port（port2） 6688 0x1A20 DIFOP Port（port3） 8899 0x22C3 DIFOP Port（port4） 8899 0x22C3 port5~port6 00,00,00,00， 0x00,0x00,0x00,0x00，...

  • Page 20: Gps Synchronization

    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-16 only read the GPSRMC message from GPS module., the GPSMRC message format is shown as below: $GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh...

  • Page 21: Phase Lock

    When using multiple RS-LiDAR-16 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-16 provides a phase-locking feature that enables the user to control where the lase firings overlap.

  • Page 22: Point Cloud

    8.2 Point Cloud Presentation In a circular arena, as the RS-LiDAR-16 rotates, the scanning path of the 16 laser beams plots 16 conical scanning surfaces with 8 face upward and 8 face downward, and the point cloud produced are the section line between...
  • Page 23 Figure 10. Figure 9 Contour lines plotted on X, Z coordinates Figure 10 RS-LiDAR-16 Scanning Illustration The hyperbolas contour lines phenomenon can also be explain by transforming polar coordinates into orthogonal coordinates. As shown in Figure 11, we deduced the function of a hyperbolas ...

  • Page 24: Laser Channels And Vertical Angles

    Figure 12 RS-LiDAR-16 Laser Channels and Vertical Angles RS-LiDAR-16 has a vertical field of view of -15 ° to +15 ° with a eventful interval of 2 degrees. The 16 laser heads also called as 16 channels. The laser channels and their designated vertical angles are as shown in the Table 8.
  • Page 25 RS-LiDAR-16 User’s Manual Every sequence of 16 laser firings consumes 50us.

  • Page 26: Calibrated Reflectivity

    Reflectivity therefore is an important information for LiDAR to distinguish objects. RS-LiDAR-16 reports reflectivity values from 0 to 255 with 255 being the reported reflectivity for an ideal reflector. Diffuse reflection reports values from 0 to 100, with the weakest reflectivity reported from black objects and strongest reflectivity reported from white object.

  • Page 27: Trouble Shooting

    RS-LiDAR-16 User’s Manual 11 Trouble Shooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Interface Verify the power connection and polarity  doesn’t light or blink Verify the power supply satisfy the requirement (at least 2A @ 12V) ...
  • Page 28 RS-LiDAR-16 User’s Manual Are excessive broadcast packets from another service being seen 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? ...

  • Page 29: Appendix A ▪ Point Time Calculate

    RS-LiDAR-16 User’s Manual Appendix A ▪ Point Time Calculate In a MSOP packet, there are 12 blocks, each block has two sequence for the whole 16 laser firings, so in a MOSP packet, there are 24 groups for the whole 16 laser firings. All sixteen lasers are fired and recharged every 50.0µs.

  • Page 30: Appendix B ▪ Information Registers

    RS-LiDAR-16 User’s 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 byte2 Function MOTOR Register description: （1）This register is used to set the rotation direction and rotation speed.

  • Page 31: Motor Phase Offset (Mot_Phase)

    RS-LiDAR-16 User’s Manual B.3 Motor Phase Offset (MOT_PHASE) Motor Phase Offset（2bytes in total） Byth No. byte1 byte2 Function MOT_PHASE Register description: It can be used to adjust the phase offset of the motor with the PPS together. The value can be set from 0 to 360.

  • Page 32: Serial Number（Sn

    RS-LiDAR-16 User’s Manual Register description: （1）The storage format of corrected pitch data adopts big endian format. （2）LSB = 0.0001° （2） The value of the pitch is unsigned integer. Channel 1 to Channel 8 pitches downwards, channel 9 to channel 16 pitches upwards.
  • Page 33 RS-LiDAR-16 User’s Manual (2) month reg name：set_month Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve reserve reserve reserve set_month[3:0]：1~12 month (3) Day reg name：set_day Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve...

  • Page 34: Status

    RS-LiDAR-16 User’s Manual B.10 STATUS Status (18bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function Idat1_reg Idat2_reg Vdat_12V_reg Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function Vdat_12V_M_reg Vdat_5V_reg Vdat_3V3_reg Vdat_2V5_reg Byte No.
  • Page 35 RS-LiDAR-16 User’s Manual Function reserve cksum_st manc_err1 manc_err2 gps_st Byte No. Byte17 Byte18 byte19 byte20 Byte21 Byte22 Byte23 Byte24 Function temperature1_reg temperature2_reg temperature3_reg temperature4_reg Byte No. Byte25 Byte26 Byte27 Byte28 byte29 byte30 Byte31 Byte32 Function temperature5_reg reserve Byte No. Byte33...

  • Page 36: B.12Ascii Code In Gpsrmc Packet

    RS-LiDAR-16 User’s Manual LiDAR internal timestamp is synchronizing the UTC. bit3~bit7 Reserved (5) The reset are used for debug, they are not opened. B.12ASCII code in GPSRMC Packet GPSRMC register reserve 86byte, it can store the whole GPSRMC message from GPS module in to the register in ASCII code.

  • Page 37: Appendix C ▪ Rsview

    The installation path should not contain any Chinese character. C.3 Set up Network As mentioned in the RS-LiDAR-16 User’s Manual, the default IP address of the computer should be set as...

  • Page 38: Visualize Streaming Sensor Data

    English characters and should include all three csv files (angle.csv, ChannelNum.csv, curves.csv). You can find the configuration files folder named “configuration_data” in the U disk in the RS-LiDAR-16 package box or you can ask the RoboSense support to get the files. The path contains the configuration files should not contain any Chinese character.

  • Page 39: Capture Streaming Sensor Data To Pcap File

    2. A Choose Output File dialog will pop up. Navigate to where you want the file to be saved and click the Save button (Fig C-5). RSView begins writing packets to your pcap file. (Note: RS-LiDAR-16 sensors generate a lot of data.

  • Page 40: Replay Captured Sensor Data From Pcap File

    RS-LiDAR-16 User’s Manual Fig 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.
  • Page 41 RS-LiDAR-16 User’s Manual Fig C-7 Select the PCAP file 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.
  • Page 42 RS-LiDAR-16 User’s Manual Fig C-10 RSView Data Point Table 7. Click Show only selected elements in the Spreadsheet (Fig C-11). Since no points are selected yet, the table will be empty. Fig C-11 RSView Show Only Selected Elements 8. Click the Select All Points tool. This turns your mouse into a point selection tool(Fig C-12).

  • Page 43: Rs-Lidar-16 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-16 factory firmware 1. We need connect RS-LiDAR-16 to the PC and confirm we can view the real time data. Then click Tools > RS-LiDAR Information.

  • Page 44: Rsview Data Port

    RS-LiDAR-16 ports number by modify the 2 parameters in C.7 section, we need configure the RSView Data Port first or we will see nothing in the RSView. If we do not know the RS-LiDAR-16 ports configuration, we can use Wireshark to capture the packets to check the Dst Port.

  • Page 45: Firmware Online Update

    Fig C-17 Data Port Setting C.9 Firmware Online Update Before begin firmware online update, we need make sure the RS-LiDAR-16 is working normally, that means we can view the Pointcloud 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.

  • Page 46: Fault Diagnosis

    Fig C-20 Online Update Successful C.10 Fault Diagnosis Before begin firmware online update, we need make sure the RS-LiDAR-16 is working normally, that means we Click Tools > Fault Diagnosis，the Fault Diagnosis window will pop up. Then we can click Start button to can view the Pointcloud and get LiDAR information in RSVIEW.
  • Page 47 RS-LiDAR-16 User’s Manual Fig C-21 Fault Diagnosis...

  • Page 48: Appendix D ▪ Rs-Lidar-16 Ros Package

    D.3 Configure PC IP address For the default RS-LiDAR-16 firmware, it is configured the “192.168.1.200” as its own IP address, and the “192.168.1.102” as its destination PC IP address. So we need set the PC static IP as “192.168.1.102” and the net mask as “255.255.255.0”, while the gateway address is not necessary.

  • Page 49: View The Recorded Pcap File Offline

    RS-LiDAR-16 User’s Manual 3. Open a new terminal: rviz Set the Fixed Frame to "rslidar". Add a Pointcloud2 type and set the topic to "rslidar_points": D.5 View the recorded pcap file offline We can also use the ros_rslidar ROS package to view the recorded .pcap data.
  • Page 50 RS-LiDAR-16 User’s Manual <param name="channel_path" value="$(find rslidar_pointcloud)/data/rs_lidar_16/ChannelNum.csv" /> </node> </launch> 2. Open an teminal: cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_pointcloud rs_lidar_16.launch 3. Open a new terminal and run： rviz...

  • Page 51: Appendix E ▪ Dimensions

    RS-LiDAR-16 User’s Manual Appendix E ▪ Dimensions...
  • Page 52 RS-LiDAR-16 User’s Manual...

  • Page 53: Appendix F Lidar Mechanical Installation Suggestion

    RS-LiDAR-16 User’s 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 4mm high. The material of the mount platform is suggested to be aluminum alloy in order to thermolysis.

  • Page 54: Appendix G How To Distinguish The Port Number Of Msop And Difop Packets

    Appendix G How to Distinguish the Port Number of MSOP and DIFOP Packets According to the Chapter 5, RS-LiDAR-16 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.
  • Page 55 RS-LiDAR-16 User’s Manual...

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