Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for RoboSense RS-Ruby
Summary of Contents for RoboSense RS-Ruby
- Page 1 RS-Ruby Users’ Manual...
- Page 2 RS-Ruby Users’ Manual Revision History Revision Number Description Date Edited by Initial release 2019-11-20...
- Page 3 RS-Ruby Users’ Manual Terminology MSOP Main data Stream Output Protocol Field of View Azimuth Horizontal Angle of LiDAR Timestamp Time Point of Encapsulation of a UDP Packet Header The Header of a UDP Packet Tail The Tail of a UDP Packet...
-
Page 4: Table Of Contents
B.6 Replay Recorded Sensor Data from PCAP Files............27 C.1 Software Installation....................... 30 Appendix C RS-Ruby ROS Package..................30 C.2 Compile RS-Ruby ROS Package................30 C.4 Display of the real-time data..................30 C.3 Configure PC IP address....................30 C.5 Offline Display the recorded PCAP File..............31 Appendix D Dimension........................33... - Page 5 RS-Ruby Users’ Manual Appendix F Clean of LiDAR......................35 F.1 Attention..........................35 F.2 Required Materials......................35 F.3 Clean Method........................35...
-
Page 6: Safety Notice
RS-Ruby Users’ Manual Congratulations on your purchase of a RS-Ruby Real-Time 3D LiDAR Sensor. Please read carefully before operating the product. Wish you have a pleasurable product experience with RS-Ruby. 1 Safety Notice In order to reduce the risk of electric shock and to avoid violating the warranty, do not open sensor housing. -
Page 7: Introduction
RS-Ruby, the 128-beam LiDAR developed by RoboSense, is the world leading Multi-Beam LiDAR that is particular utilized in and perception of environment for autonomous driving. RS-Ruby is realized by solid-state hybrid LiDAR. The technical details are listed below: Measurement rang 200 meters ... -
Page 8: 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 160 m is a 10% NIST Diffuse Reflectance Calibration Targets, the test performance is depending on circumstance factors, not only temperature, range and reflectivity but also including other uncontrollable factors. -
Page 9: Interface
45 W. 4.2 Data Output interface of LiDAR The data output access of RS-Ruby is physically protected by an aviation terminal connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins of the aviation terminal connector are defined as follow:... -
Page 10: Interface Box
Figure 2. Aviation Connector PIN Number 4.3 Interface Box In order to connect the RS-Ruby conveniently, there is an interface box provided. There are accesses for power supply, Ethernet and GPS on Interface Box. Meanwhile there are also indicator LEDs for checking the status of power supply. -
Page 11: Connection Of Interface Box
RS-Ruby Users’ Manual RoboSense Service. GPS interface definition: GPS REC stands for GPS input, GPS PULSE stands for GPS PPS input. Interface of power supply is standard DC 5.5-2.1 connector. 4.4 Connection of Interface Box Figure 4. Diagram of Interface Box connection. -
Page 12: Communication Protocol
Ethernet. In this User Guide the length of UDP packet is set up to 1248 byte. The IP address and port number of RS-Ruby is set in the factory as shown in the Table 2, but can be changed by user as needed. -
Page 13: Header
127 channel data 127 channel data 127 Figure 5. MSOP Packet of RS-Ruby in Single Return Mode. 5.1.1 Header The 80-byte Header is used to mark the start position of data, return mode setting, sensor temperature and timestamp. The detail of the header is as shown in Table 4. -
Page 14: Data Field
RS-Ruby Users’ Manual 5.1.2 Data Field The value of measurement result is saved in the data field, in total 1164 byte. It consists of 3 data blocks, the length of each data block is 388 bytes. Each block stands for a complete round of distance measuring for all 128 channel. -
Page 15: Msop Data Package
RS-Ruby Users’ Manual 5.1.2.2 Channel Data Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance information. The lower one byte stands for reflectivity. Table 6. The Format of Channel Data. Channel data n(3 byte) - Page 16 :10.615m; Data block 1 second azimuth :0x5939 Azimuth 2 calculation get azimuth :0x59 & 0x39 combine the byte :0x5939 convert to decimal :22841 divide by :100 result :228.41° Figure 6. MSOP Packet of RS-Ruby in Single Return Mode.
-
Page 17: Gps Synchronization
<12>Mode(A/D/E/N=) *hh checksum from $ to* The different GPS module could send out different GPRMC message length, the RS-Ruby could be compatible with the most GPS modules on the market. Please contact RoboSense of technical support when it is incompatible. -
Page 18: Key Specifications
7 Key Specifications 7.1 Return Mode There are two return modes on RS-Ruby: strongest return and last return mode. Because of laser divergence, after any laser emission the sensor can receive always more than one return signals. If return mode is set up to the strongest return mode, only the strongest return signal can be seen as useful signal in distance calculating. -
Page 19: Point Cloud
Table 7. Figure 8. Coordinate system mapping between polar system and XYZ system. Note 1: In the RS-Ruby ROS package, the coordinate system must be transferred to the ROS right-hand Coordinate system. The ROS-X axis is co-axis with the Y-axis and with same direction as Figure 8. -
Page 20: Laser Channel In Spatial Distribution
RS-Ruby Users’ Manual 8.2 Laser Channel in spatial Distribution 128 lasers in RS-Ruby are defined as 128 channels. The vertical angle of those lasers distribute in the range of -25°~+15°. The distribution of the angles is non-uniform. According to table 7 the corresponding channel and vertical angle are as follow. - Page 21 RS-Ruby Users’ Manual -0.99 5.95 -4.29 4.25 2.01 2.55 0.85 -0.19 5.95 -3.49 4.25 2.81 2.55 -7.65 0.85 0.61 5.95 -2.69 4.25 3.61 2.55 -6.09 0.85 1.41 5.95 -1.89 4.25 5.46 2.55 -5.29 0.85 2.21 5.95 -16.042 4.25 -1.19 2.55 -4.49...
- Page 22 RS-Ruby Users’ Manual 3.11 -5.95 -5.39 -0.85 0.91 -2.55 -2.39 -4.25 3.96 -5.95 -4.59 -0.85 1.71 -2.55 -1.59 -4.25 7.41 -5.95 -3.79 -0.85 2.51 -2.55 -10.346 -4.25 -0.89 -5.95 -2.99 -0.85 3.31 -2.55 -6.39 -4.25 -0.09 -5.95 -2.19 -0.85 4.41 -2.55...
- Page 23 RS-Ruby Users’ Manual -4.25 -4.89 -5.95 2.61 -0.85 -9.244 -2.55 -0.79 -4.25 -4.09 -5.95 3.41 -0.85 -6.29 -2.55 0.01 -4.25 -3.29 -5.95 4.71 -0.85 -5.49 -2.55 0.81 -4.25 -2.49 -5.95 -0.85 -4.69 -2.55 1.61 -4.25 -1.69 -5.95...
-
Page 24: Reflectivity
Hence, the character can be used to distinguish the different materials. RS-Ruby 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 25: Troubleshooting
RS-Ruby Users’ Manual 10 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 Verify the power supply satisfy the requirement (at least ... - Page 26 RS-Ruby Users’ Manual This is nearly always an issue with the network and/or user computer. Check the following: Is there excessive traffic and/or collisions on network? Are excessive broadcast packets from another service Data dropouts being received by the sensor? This can slow the sensor down.
-
Page 27: Appendix A - The Format Of All Register
RS-Ruby Users’ Manual Appendix A – the Format of all Register A.1 UTC_TIME UTC Time(in total 10 bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function year month hour Byte No. byte9 byte10 Function μs Explanation of each Byte in UTC：... - Page 28 RS-Ruby Users’ Manual set_ms Byte No. bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function reserve reserve reserve reserve reserve reserve ms[9:8] Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_ms[7:0] Note：set_ms[9:0]value：0~999 μs set_us Byte No. bit15...
-
Page 29: Appendix B Rsview
RSView. The original sensor data can be also captured and examined by using other free tools, such as Wireshark or TCP-Dump. But visualization of the 3D data through using RSView is easy to realize. RS-Ruby is used with RSView vision 3.1.5. or above. -
Page 30: Visualization Of Point Cloud
RS-Ruby Users’ Manual B.4 Visualization of point cloud 1. Connect the RS-Ruby to PC over Ethernet cables and power supply. 2. Right Click to start the RSView application with Run as administrator. 3. Click on the “File”-> Open -> Sensor Stream (Fig B-1). -
Page 31: Save Streaming Sensor Data Into Pcap File
(Fig B-5). After clicking “save” button, RSView begins writing data into pcap file. (Note: RS-Ruby will generate enormous measuring data. So, it is best to use a fast, local HDD or SSD, not to use a slow subsystem such as USB storage device or network drive.) Figure B - 5. -
Page 32: Replay Recorded Sensor Data From Pcap Files
Figure B - 7. Select the PCAP File. 3. In dialogue box “Sensor Configuration”, please add and select the right configuration file of RS-Ruby, then click OK. 4. Clicking Play/Pause button can make 3D point cloud stream play and pause. Using the Scrub tool can select out the interesting frame. - Page 33 RS-Ruby Users’ Manual be displayed on the right side. It contains all displayed data points in the frame. Figure B - 9. RSView Spreadsheet tool. 6. The dimension and the sort of data in this table are adjustable. That can make the display more obvious.
- Page 34 RS-Ruby Users’ Manual Figure B - 13. RSView Selected Points. 10. Any selected point can be saved by doing File>Save As>Select Frames.
-
Page 35: Appendix C Rs-Ruby Ros Package
After configuring the static IP, it can be examined in CMD with code ifconfig. C.4 Display of the real-time data 1. Connect the RS-Ruby to PC via twister pair wire with RJ45 connector, power on it, then wait for PC cognizing LiDAR. -
Page 36: Offline Display The Recorded Pcap File
The ros_rslidar ROS package can be also use to display the recorded. Pcap offline data. 1. Modify the “rs_ruby.launch” file like below (please pay attention to the red code line): <launch> <arg name="model" default="RS-ruby" /> <arg name="device_ip" default="192.168.1.200" /> <arg name="msop_port" default="6699" />... - Page 37 RS-Ruby Users’ Manual 2. Open a terminal, run the node： cd ~/catkin_ws source devel/setup.bash ruby roslaunch rslidar_pointcloud rs_ .launch 3. This step is same as step 3 in chapter C.4.
-
Page 38: Appendix D Dimension
RS-Ruby Users’ Manual Appendix D Dimension Figure D - 1: Dimension of Ruby. -
Page 39: Appendix E Suggestion Of Mechanical Lidar Mount
RS-Ruby Users’ Manual Appendix E Suggestion of Mechanical LiDAR Mount Please make sure the surface of platform used for mounting 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 40 RS-Ruby Users’ Manual Appendix F Clean of LiDAR F.1 Attention Before cleaning the RS-LiDAR, please read through this entire Appendix F. Otherwise, improper handling can permanently damage it. When the sensor is used in a harsh environment, it is necessary to clean it in time to keep its performance.
- Page 41 RS-Ruby Users’ Manual...
Need help?
Do you have a question about the RS-Ruby and is the answer not in the manual?
Questions and answers