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RoboSense RS-Box User Manual

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RS-Box User Manual

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Summary of Contents for RoboSense RS-Box

  • Page 1 RS-Box User Manual...

  • Page 2: Table Of Contents

    6. WEB console............................12 7. Run Perception Algorithms at the RS-Box....................14 8. Appendix A Mechanical Dimensions....................... 16 Thank you for purchasing the RS-Box. Please read this Manual carefully before use and wish you a pleasurable experience with the product.

  • Page 3: Document Update History

    RS-Box User Manual Document Update History Version Date Update Description Version updated to 2.0； Added the perceptual receiving packet program Demo under Windows 7 system; Added the method to run the perception programs at the V2.0 2019.1.5 RS-box end. Updated the method to obtain materials.

  • Page 4: Safety Tips

    1. Safety Tips To reduce the risk of damage and to avoid violating the warranty terms, please do not dismantle or assemble RS-Box, please do not make any change or extra operation on the pre-installed systems or on the RS-LiDAR-Algorithms related programs other than what has been described in this Manual.

  • Page 5: Electric Interface

    RS-Box User Manual Electric Interface 3.1 Power Supply RS-Box requires to work with a power supply of 19V-4.74A, 90WMAX. Please use the original power adapter coming with the RS-Box. 3.2 Electric Interfaces Figure 1 RS-Box Electrical Interface...

  • Page 6: Guidelines

    2. DC: The input voltage. Please use the original power adapter. 3. Power: RS-Box boot-up button. 4. Guidelines Note: The configuration of the RS-Box has been set up within the factory, please do not modify system configuration without technicians. Procedures: Devices Connection: Use a SWITCH to connect the RS-LiDAR, RS-Box, and the Receiver computer (Recommend to use Ubuntu computer with ROS system).
  • Page 7 Receiving terminal configuration: the receiver computer IP should be addressed as :192.168.1.xxx (Please note not to use the IP of 192.168.1.102 which will cause conflict with the IP of the RS-Box). Web Browser: open up a web browser on the user terminal computer and input 192.168.1.102 in the address bar, and then open up the console.
  • Page 8 LAN and the same network segment as the RS-Box. Note: There is no need to configure the RS-BOX to view the point cloud. Please do not modify RS-Box configuration unless it is necessary) The steps to view the point cloud and perception results are as follows: Step 1.
  • Page 9 RS-Box User Manual Step 2. Configure the .bashrc file, input “sudo gedit ~/.bashrc” at the user terminal, click “Enter” to open the .bashrcfile, (Note: if the used shell is zsh, please input “sudo gedit ~/.zshrc”). Then add a line at the end of the file:...
  • Page 10 After the configuration is completed, check the point cloud and the real-time perception results through RVIZ: Input "rviz -d ~/robosense.rviz" at the terminal (Note: ~/robosense.rviz" is the sample path, please modify it according to the actual storage path). The robosense.rviz file is stored in the attachment of the perception receiving packet(Please...
  • Page 11 RS-Box User Manual If an error is reported, please check if the configuration has a problem, if the network is connected, and if the perception has been launched normally. In normal cases, you can see the following messages by entering "rostopic list" at the terminal. Otherwise, please check if...

  • Page 12: Output Docking

    RS-Box User Manual 5. Output docking After the RS-Box is properly connected and booted up through Web console, it will send perception results with UDP socket format to the user terminal computer. We provide perception receiving packet demo under ubuntu16.04 and window7 system for users to test and port(Please contact RoboSense to get the demo).
  • Page 13 Steps are as follows: In the terminal, switch the path to the robosense/src/rs_perception_receiver/proto directory and execute "protoc perceptron.proto --cpp_out=./", then switch back to the workspace robosense directory and re-execute the "catkin_make" command to compile the node until the compiling is successful.
  • Page 14 "source devel/setup.bash". (If the shell is zsh, please execute "source devel/setup.zsh"). Run node: execute "roslaunch rs_perception_receiver receiver.launch" in the current workspace robosense. A successful start will open the RVIZ (this step is the same as the above-mentioned of direct launch of robosense.rviz), where you can see the results received.

  • Page 15: Web Console

    7 system or Ubuntu system. 6. WEB console The web console is designed specifically for the remote control of the RS-Box, it has the functions such as system activation, debugging perception algorithms and replacing parameter files , etc. User can customize its RS-Box in accordance with their own requirements.
  • Page 16 “update” button. Step 3. Click the “update” button to update. (4) RS-Box Console. RS-Box Console is a Web version of remote-control terminal, user can control RS-Box through the terminal directly. (5) Parameter File Replacement.

  • Page 17: Run Perception Algorithms At The Rs-Box

    Connection Restoration: to fix and update the broken link. 7. Run Perception Algorithms at the RS-Box. 7.1 Launch Perception Algorithms at the RS-Box WEB Console with a Push of a Button. A. Open the console by accessing 127.0.0.1 in the browser of the RS-Box.
  • Page 18 C. Input roslaunch rs_perception 16_test.launch at the terminal(this file might be the example file, please contact RoboSense if you have any question). Warning: There exists the safety risk to the system files to use the RS-Box through the root, please use with caution!

  • Page 19: Appendix A Mechanical Dimensions

    RS-Box User Manual 8. Appendix A Mechanical Dimensions Figure 3...

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