Table Of Contents - RoboSense RS-Ruby User Manual

1 Safety Notice..................................................................................................................................1
2 Introduction.....................................................................................................................................2
4 Interface.......................................................................................................................................... 4
3 Product Specifications..................................................................................................................3
4.1 Power supply...................................................................................................................... 4
4.3 Interface Box...................................................................................................................... 5
4.2 Data Output interface of LiDAR.......................................................................................4
4.4 Connection of Interface Box............................................................................................ 6
5.1 MSOP.................................................................................................................................. 7
5 Communication Protocol..............................................................................................................7
5.1.2 Data Field................................................................................................................ 9
5.1.1 Header......................................................................................................................8
5.1.4 MSOP Data Package.......................................................................................... 10
5.1.3 Tail...........................................................................................................................10
6 GPS Synchronization................................................................................................................. 12
6.1 Principle of GPS synchronization................................................................................. 12
7 Key Specifications...................................................................................................................... 13
6.2 GPS Usage.......................................................................................................................12
7.1 Return Mode.....................................................................................................................13
7.2 Phase Lock.......................................................................................................................13
8.1 Coordinating Mapping.................................................................................................... 14
8 Point Cloud...................................................................................................................................14
8.2 Laser Channel in spatial Distribution........................................................................... 15
10 Troubleshooting........................................................................................................................ 20
9 Reflectivity....................................................................................................................................19
A.1 UTC_TIME....................................................................................................................... 22
Appendix A - the Format of all Register.....................................................................................22
Appendix B RSView.......................................................................................................................24
B.2 Installation of RSView.................................................................................................... 24
B.1 Software Features...........................................................................................................24
B.3 Network Setup................................................................................................................. 24
B.5 Save Streaming Sensor Data into PCAP File............................................................ 26
B.4 Visualization of point cloud............................................................................................25
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
Appendix E Suggestion of Mechanical LiDAR Mount..............................................................34

TABLE OF CONTENTS

RS-Ruby Users' Manual