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 Manual...
  • Page 2 RS-LiDAR-16 User Manual Revision History Revision Content Date Edited by Initial release 2017-03-01 Fill in the content according to RS-LiDAR-16 1.0 2017-05-10 hardware. Modify the relationship between laser channel and 2017-06-13 vertical angle Update the content according to RS-LiDAR-16 2.0 2017-07-17...
  • Page 3 RS-LiDAR-16 User Manual Add the sensor clean instruction 2018-08-04 Add the RSVIEW compatible instruction Add the LiDAR cable route instruction Refine LiDAR power supply considerations 2019-04-25 Add the instruction of space between the LiDAR and mounting brackets Modify the DIFOP data format...
  • Page 4 RS-LiDAR-16 User Manual Add GPS interface PIN definition of the V4.0 version LiDAR’s interface box 4.3.1 Update electrical interface diagram Add "LiDAR" to the network wiring definition 4.3.2 Correct some description faults 2019-12-11 Add LiDAR mechanical installation suggestion Update download address of RSView...

  • Page 5: Table Of Contents

    RS-LiDAR-16 User Manual TABLE OF CONTENTS 1 Safety Notices................................ 9 2 Introduction................................10 3 Product Specifications............................11 3.1 Product Format............................11 3.2 Accuracy..............................12 4 Connections................................. 13 4.1 Power................................. 13 4.2 Electrical Configuration........................... 13 4.3 Interface Box Description........................14 4.4 Interface Box Connection........................16 5 Communications Protocols..........................17...
  • Page 6 RS-LiDAR-16 User Manual 7.1.3 Strongest, Last and Dual Returns..................... 30 7.1.4 Return Mode Flag.........................30 7.2 Phase Lock............................... 31 8 Point Cloud................................32 8.1 Coordinate Mapping..........................32 8.2 Point Cloud Presentation........................32 9 Laser Channels and Vertical Angles........................ 34 10 Calibrated Reflectivity............................36 11 Troubleshooting..............................
  • Page 7 C.4 Visualize Streaming Sensor Data......................50 C.5 Capture Streaming Sensor Data to PCAP File.................. 51 C.6 Replay Captured Sensor Data from PCAP File................. 52 C.7 RS-LiDAR-16 Factory Firmware Parameters Setting............... 54 C.8 RSView Data Port........................... 56 C.9 Firmware Online Update........................56 C.10 Fault Diagnosis............................57...
  • Page 8 RS-LiDAR-16 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...

  • Page 9: Safety Notices

    RS-LiDAR-16 User 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 10: Introduction

    RS-LiDAR-16 User 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, robot-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 11: Product Specifications

    The following data is only for mass-produced products. Any samples, testing machines and other non-mass-produced versions may not be referred to this specification. If you have any questions, please contact RoboSense sales. The measurement target of rang is a 20% NIST Diffuse Reflectance Calibration Targets, the test performance is depending on...

  • Page 12: Accuracy

    RS-LiDAR-16 User Manual Power Consumption：12 W (typical) Operating Voltage: 9-32 VDC (with Interface Box and Regulated Power Supply) Mechanical/ Weight: 0.87 Kg (without cable) Electrical/ Dimensions: 109 mm Diameter X 80.7 mm Height Operational Environmental Protection: IP67 Operation Temperature: -30 ℃ to +60 ℃...

  • Page 13: Connections

    Figure 3: Wiring Terminal and Serialized PIN. The RS-LiDAR-16 has a type that uses the aviation connector. The cable length between the LiDAR and the aviation connector is 1 meter. The specific PINs of the aviation connector are defined as follows:...

  • Page 14: Interface Box Description

    The Interface BOX is connected to the RS-LiDAR-16 by default. The Interface BOX provides indicator LEDs for power, interfaces for power, 100Mbps Ethernet, and GPS inputs. The DC 5.5-2.1 connector for power input, RJ45 Ethernet connector for RS-LiDAR-16 data output and SH1.0-6P female connector for GPS input.
  • Page 15 GPS REC Figure 5: Interface definition on 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. On the Interface BOX, the red light indicator means standard power input, and the green one means standard power output.

  • Page 16: Interface Box Connection

    RS-LiDAR-16 User Manual 4.4 Interface Box Connection Figure 6: Interface Box connection diagram.

  • Page 17: Communications Protocols

    1290 byte long, and consists of a 1248-bytes- 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 18: Msop

    Each RS-LiDAR-16 MSOP packet payload is 1248 byte long and consists of a 42-byte header and a 1200-byte data field containing twelve blocks of 100-byte data records and a 6-byte tail.

  • Page 19: Header

    RS-LiDAR-16 User Manual MSOP Packet (1248 bytes) The basic data structure of a MSOP packet for dual return is as shown in Figure 8. data packet 42 bytes 6 bytes 12 * 100 bytes = 1200 bytes Tail Header Data block 1...

  • Page 20: Data Field

    Azimuth 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 21 RS-LiDAR-16 User Manual In the example below, N=1. // First, adjust for a rollover from 359.99° to 0° If (Azimuth[3] < Azimuth[1]) Then Azimuth[3]:= Azimuth[3]+360; Endif; // Perform the interpolation Azimuth[2]:=Azimuth[1]+((Azimuth[3]-Azimuth[1])/2); // Correct for any rollover over from 359.99° to 0°...

  • Page 22: Tail

    RS-LiDAR-16 User Manual 5.1.3 Tail The tail is 6 bytes long, with 4 bytes unused and reserved for information, and the other 2 bytes as: 0x00, 0xFF. 5.1.4 Demonstration Data Figure 9: MSOP Packet Display.
  • Page 23 RS-LiDAR-16 User Manual Figure 10: 1 cm Resolution Data Block Display. Figure 11: 0.5 cm Resolution Data Block Display.

  • Page 24: Difop

    RS-LiDAR-16 User 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 25: Ucwp

    RS-LiDAR-16 User Manual Operation status (STATUS) Reserved Fault diagnosis (FALT_DIGS) GPRMC Corrected static (COR_STATIC) Corrected vertical angle (COR_VERT_ANG) 1165 Reserved 1213 Tail Tail 1246 Note: The Header (the DIFOP identifier) in the table above is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55, among which the first 4 byte 0xA5,0xFF,0x00,0x5A is the sequence to identify the packet.
  • Page 26 4 bytes 0xAA, 0x00, 0xFF, 0x11 forms the sequence to identify the packet. 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 27 RS-LiDAR-16 User Manual DIFOP Port(port3) 8899 0x22C3 DIFOP Port(port4) 8899 0x22C3 FOV starting angle 0x0000 FOV end angle 12000 0x2EE0 Year:2017 0x11 Month:3 0x03 Day:10 0x0A Hour:9 0x09 UTC_TIME Minute:45 0x2D Second:30 0x1E Millisecond: 100 0x00,0x64 Microsecond: 200 0x00,0xC8 Motor Phase Lock...

  • Page 28: Gps Synchronization

    RS-LiDAR-16 User Manual 6 GPS Synchronization RS-LiDAR-16 supports external GPS receiver connections. With GPS connections, we can synchronize the RS-LiDAR-16 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.
  • Page 29 PIN GND provide the ground connection for GPS module. The GPS module should set to 9600 bps baud rate, 8-bit data bit, no parity and 1 stop bit. RS-LiDAR-16 only read the GPRMC 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 30: Key Features

    7.1.4 Return Mode Flag The factory default setting for RS-LiDAR-16 is the Strongest Return mode. If you need to change the settings, please refer to Figure C-14 in Appendix C of this user manual. The 300th Byte in the DIFOP is...

  • Page 31: Phase Lock

    Last Return 7.2 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 32: Point Cloud

    Figure 14: Coordinate Mapping. Note 1 ： In the RS-LiDAR-16 ROS package, we use a coordinate transformation by default to compatible with the ROS right-handed coordinate system: ROS-X axis is the Y axis as Figure 14, while ROS-Y axis is -X axis as Figure 14, Z axis keep the same.
  • Page 33 Figure 15. Figure 15:Contour lines plotted on X, Z coordinates. Figure 16: RS-LiDAR-16 Scanning Illustration. The hyperbolas contour lines phenomenon can also be explained by transforming polar coordinates into orthogonal coordinates. As shown in Figure 17, we deduced the function of a hyperbolas ...

  • Page 34: Laser Channels And Vertical Angles

    Figure 18:RS-LiDAR-16 Laser Channels and Vertical Angles. RS-LiDAR-16 has a vertical field of view of -15°to +15°with an interval of 2°. The 16 laser heads also called as 16 channels. The laser channels and their designated vertical angles are as shown in the Table 10.
  • Page 35 RS-LiDAR-16 User Manual Every sequence of 16 laser firings consumes 55.5 μs.

  • Page 36: 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 37 RS-LiDAR-16 User Manual configuration_data/curves.csv). The calculate code is suggested to refer to the function calibrateIntensity( ) in rawdata.cc from RS-LiDAR-16 ROS package. Note 1: Because of the firmware upgrade, the calculation of the intensity in the calibrateIntensity() function has been adjusted for several times, and the new code is backward compatible with the earlier firmware.

  • Page 38: Troubleshooting

    RS-LiDAR-16 User Manual 11 Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Verify the power connection and polarity  Interface BOX red LED doesn’t light or blink Verify the power supply satisfy the requirement (at least 2A @ 12V) ...
  • Page 39 RS-LiDAR-16 User Manual 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 ...

  • Page 40: Appendix A ▪ Point Time Calculate

    RS-LiDAR-16 User 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 MSOP packet, there are 24 groups for the whole 16 laser firings. All sixteen lasers are fired and recharged every 55.5µs.

  • Page 41: Appendix B ▪ Information Registers

    RS-LiDAR-16 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) MOT_SPD (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 42: Fov Setting (Fov Set)

    RS-LiDAR-16 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.

  • Page 43: Bottom Board Firmware (Bot_Frm)

    RS-LiDAR-16 User Manual B.6 Bottom Board Firmware (BOT_FRM) BOT_FRM(5bytes in total) byte1 byte2 Byte3 Byte4 Byte5 Function BOT_FRM Register description： If our top board firmware revision is B7R14V4_T1_F, then BOT_FRM will output 07 14 04 01 F0. In the output, the A represents release version Application, while the F represents factory version Factory.

  • Page 44: Serial Number(Sn)

    RS-LiDAR-16 User Manual convert to decimal: byte1 = 0, byte2 = 39, byte3 = 16. cor_pitch_9: (0*256 + 39*256+16) *0.0001 = 1°. B.8 Serial Number(SN) SN(6 bytes in total) Byte No. 1byte 2byte 3byte 4byte 5byte 6byte Function The Serial Number of each device adopts the same format as the MAC_Address, namely, a 6-byte hexadecimal number.
  • Page 45 RS-LiDAR-16 User Manual (2) Month 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 set_day Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve reserve reserve set_day[4:0]：1~31 day...

  • Page 46: Status

    RS-LiDAR-16 User Manual (8) μs set_μs Byte No. bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function reserve reserve reserve reserve reserve reserve us[9:8] Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_μs[7:0] Note ： set_μs[9:0] value ： 0~999 B.11 STATUS...

  • Page 47: Fault Diagnosis

    RS-LiDAR-16 User Manual The unit above is volt (V). B.12 Fault Diagnosis Fault Diagnosis (40bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function reserve Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function...

  • Page 48: Ascii Code In Gprmc Packet

    RS-LiDAR-16 User Manual temperature4 represent the top board temperature. Each temperature register contains 2 bytes to be temperature_reg[15:0]. temperature_reg[2:0] is invalid. temperature_reg[15:3] is temperature value, while temperature_reg[15] is symbol flag. The temperature formula is as below: Temperature5 represents bottom board temperature. The temperature register contains 2 bytes to be temperature_reg[15:0].

  • Page 49: Appendix C ▪ Rsview

    RoboSense website (http://www.robosense.ai/resource). Launch the installer and follow the on-screen instructions to finish the installation. 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...

  • Page 50: Visualize Streaming Sensor Data

    RS-LiDAR-16 User Manual as 192.168.1.102, sub-net mask should be 255.255.255.0. You should make sure that RSView 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.

  • Page 51: 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 (Figure C-5). RSView begins writing packets to your pcap file. ( Note: RS-LiDAR-16 sensors generate a lot of data. The pcap file can become quite large if the recording duration is lengthy. Also, it is best to record to a fast, local HDD or SSD, not to a slow subsystem such as a USB storage device or network drive.

  • Page 52: Replay Captured Sensor Data From Pcap File

    RS-LiDAR-16 User Manual 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 53 RS-LiDAR-16 User Manual Figure C - 8: RSView Play Button. 5. To take a closer look at some data, scrub to an interesting frame and click the Spreadsheet button (Figure C-9). A sidebar of tabular data is displayed to the right of the rendered frame, containing all data points in the frame.

  • Page 54: 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, Time, Optional output angle and Return mode 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 55 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-16 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.

  • Page 56: Rsview Data Port

    RS-LiDAR-16 ports configuration, we can use Wireshark to capture the packets to check the Dst Port. Click Tools > Data Port, enter the real MSOP port and DIFOP port of RS-LiDAR-16, then click Set Data Port. After that we can see the cloud point data again in the RSView.

  • Page 57: Fault Diagnosis

    Figure C - 19: 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 can view the point cloud and get LiDAR information in RSVIEW. Click Tools > Fault Diagnosis，the Fault Diagnosis window will pop up. Then we can click Start button to monitor the LiDAR status in real time, including current, voltage, temperature, error rate of the data communication, etc.
  • Page 58 RS-LiDAR-16 User Manual Figure C - 20: Fault Diagnosis.

  • Page 59: Appendix D ▪ Rs-Lidar-16 Ros Package

    2. Copy the ros_rslidar_package into the work space ~/catkin_ws/src. You can find the ros_rslidar package in the U disk in the RS-LiDAR-16 box. You can also ask RoboSense to get these files. The latest version of the ros_rslidar driver can be downloaded from https://github.com/RoboSense-LiDAR/ros_rslidar.

  • Page 60: View The Recorded Pcap File Offline

    Set the Fixed Frame to "rslidar". Add a Pointcloud2 type and set the topic to "rslidar_points": Figure D - 1: Rviz displays point cloud data of RS-LiDAR-16. D.5 View the recorded pcap file offline We can also use the ros_rslidar ROS package to view the recorded .pcap data.
  • Page 61 RS-LiDAR-16 User Manual <param name="model" value="$(arg model)"/> <param name="device_ip" value="$(arg device_ip)" /> <param name="msop_port" value="$(arg msop_port)" /> <param name="difop_port" value="$(arg difop_port)"/> <param name="pcap" value="the absolute path to your .pcap file"/> </node> <node name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" > <param name="model" value="$(arg model)"/>...

  • Page 62: Appendix E ▪ Dimensions

    RS-LiDAR-16 User Manual Appendix E ▪ Dimensions Figure E - 1: Dimension Image of LiDAR.

  • Page 63: Appendix F ▪ Lidar Mechanical Installation Suggestion

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

  • Page 64: Appendix G ▪ How To Distinguish The Port Number Of Msop And Difop Packets

    After that we can set the Data Port in the RSVIEW. We first need connect the RS-LiDAR-16 to the PC and power on the RS-LiDAR-16. The we can start the Wireshark and select the right network to begin capturing the packets.

  • Page 65: Appendix H ▪ Sensor Clean

    RS-LiDAR-16 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.
  • Page 66 RS-LiDAR-16 User Manual...

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