RoboSense RS-Ruby Lite User Manual
  1. Manuals
  2. Brands
  3. RoboSense Manuals
  4. Accessories
  5. RS-Ruby Lite
  6. User manual

RoboSense RS-Ruby Lite User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
RS-Ruby Lite Users' Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the RS-Ruby Lite and is the answer not in the manual?

Questions and answers

Related Manuals for RoboSense RS-Ruby Lite

Summary of Contents for RoboSense RS-Ruby Lite

  • Page 1 RS-Ruby Lite Users’ Manual...
  • Page 2 RS-Ruby Lite Users’ Manual Revision History Version Number Description Date Edited by 1.0.0 Initial release 2020-08-03...
  • Page 3 RS-Ruby Lite Users’ Manual Terminology MSOP Main data Stream Output Protocol DIFOP Device Information Output Protocol Field of View Precision Time Protocol Network Time Protocol Global Positioning System Universal Time Coordinated Wave_mode Flag of Wave Mode Temp Temperature Information Resv...

  • Page 4: Table Of Contents

    RS-Ruby Lite Users’ Manual TABLE OF CONTENTS 1 Safety Notice..........................1 2 Introduction.............................2 4 Interface............................4 3 Product Specifications........................3 4.1 Power Supply........................4 4.2 Data Output Interface of LiDAR..................4 4.3 Interface Box........................5 4.4 Interface Box Connection....................6 5.1 MSOP..........................8 5 Communication Protocol......................7...
  • Page 5 Appendix D RS-Ruby Lite ROS&ROS2 Package..............41 C.6 Replay Recorded Sensor Data from PCAP Files............38 D .1 Software Installation......................41 D.2 Download & Compile RS-Ruby Lite ROS Package..........41 D.4 Display of the real-time data..................42 D.3 Configure PC IP address....................42 D.5 Display offline data......................43 Appendix E Dimension........................

  • Page 6: Safety Notice

    RS-Ruby Lite Users’ Manual Congratulations on your purchase of a RS-Ruby LiDAR Sensor. Please read carefully this User’s Manual 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, Please do not privately open the housing and modify the structure of LiDAR.

  • Page 7: Introduction

    RS-Ruby Lite, the 80-beam LiDAR developed by RoboSense, is the world leading multi-beam LiDAR that is particularly utilized in perception of environment for autonomous driving. RS-Ruby Lite is realized by solid-state hybrid LiDAR. The technical details are listed below: measurement rang: 230 meters ...

  • Page 8: Product Specifications

    RS-Ruby Lite Users’ Manual 3 Product Specifications Table 1: Product Parameters. TOF measuring distance, including the reflectivity  80 channels  Range: from 1.5m to 230m (160m@10%NIST)  Accuracy: ±5cm (typical value)  FOV(vertical): -25°~+15° Sensor  Angle resolution(vertical): at least 0.1°...

  • Page 9: Power Supply

    The recommend supply voltage is 19 VDC. The power consumption is about 38 W. 4.2 Data Output Interface of LiDAR The data output access of RS-Ruby Lite is physically protected by an aviation terminal connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins of...

  • Page 10: Interface Box

    Figure 2: Aviation Connector Pin Number of RS-Ruby Lite. 4.3 Interface Box In order to connect the RS-Ruby Lite conveniently, there is an interface box provided. There are accesses for power supply, Ethernet and GPS on the Interface Box. Meanwhile, there are also indicator LEDs for checking the status of power supply.

  • Page 11: Interface Box Connection

    While red or green LED (GPS Module connected) is dark, please check whether the power supply is out of order or damaged. If it is not intact, that could prove that the Interface Box is damaged. Please send the damaged Interface Box back to RoboSense Service.

  • 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 Lite is set in the factory as shown in the Table 2, but can be changed by user as needed.

  • Page 13: Msop

    2 channel data 2 channel data ... channel data ... channel data ... channel data ... channel data 80 channel data 80 channel data 80 channel data 80 Figure 5: MSOP Packet of RS-Ruby Lite in Single Return Mode.

  • Page 14: Data Field

    RS-Ruby Lite Users’ Manual 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. Table 4: Format of Header.

  • Page 15: Msop Data Package

    RS-Ruby Lite Users’ Manual Hence, the angle value in this block is 228.41°. Notice: the 0°axis of azimuth is co-axis and same positive direction with the Y axis in Figure 5.1.2.2 Channel Data Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance information.

  • Page 16: Difop

    :22841 divide by :100 result :228.41° Figure 6: MSOP Packet of RS-Ruby Lite in Single Return Mode. 5.2 DIFOP Device Info Output Protocol, abbreviation: DIFOP I/O Type: output from device, input to PC Default port number: 7788 DIFOP is a protocol that reports and outputs device information including the device serial number (S/N), firmware version, internet setting, calibration data, electrical machine setting and operation status, fault detection information.
  • Page 17 RS-Ruby Lite Users’ Manual Port Number of MSOP Reserved Port Number of DIFOP Reserved FOV of start angle FOV of end angle Reserved Motor Phase Lock Top Board Firmware Version Bottom Board Firmware Version Bottom Board Software Version Electrical Motor Firmware Version...

  • Page 18: Time Synchronization

    RS-Ruby Lite Users’ Manual 6 Time Synchronization RS-Ruby Lite supports two time synchronization modes, one is external GPS + PPS and the other is PTP. Mode switching can be realized through using web application(please refer to Appendix A.2). 6.1 GPS Synchronization The time of RS-Ruby Lite can be synchronized with GPS module from external.

  • Page 19: Precision Time Protocol (Ptp)

    3. The different GPS module could send out different GPRMC message length, the RS-Ruby Lite could be compatible with the most GPS modules on the market. Please contact RoboSense of technical support when it is incompatible. 6.2 Precision Time Protocol (PTP) 6.2.1 Principle of PTP...
  • Page 20 RS-Ruby Lite Users’ Manual Figure 8: Topology of LiDAR, PC and PTP Master. Notice: 1. PTP Master is a third-party device that is not included in accessories while shipment. It needs to be bought by user. 2. Our product is only as a PTP Slave that gets the synchronized time from PTP Master. The synchronization accuracy cannot be examined by LiDAR.
  • Page 21 RS-Ruby Lite Users’ Manual 0x07141cde(118758610) 2) The second part is UTC timestamp, which indicates the incremental count of seconds from 0:00 (London time) on January 1, 1970 to the current time. Figure 9 shows the identification of London time 2003/01/06 09...

  • Page 22: Key Specifications

    7.1.4 Return Mode Flag The factory default setting of return mode on RS-Ruby Lite is Last Return Mode. The relative return mode setting refers to “Return Mode” in appendix A. In DIFO packet, the 300th. Byte indicates the return mode flag: Table 8: Flag and Return Mode.
  • Page 23 RS-Ruby Lite Users’ Manual In Figure 10 different Phase Lock is shown as red arrow. When PPS is triggered, sensor can rotate to the 0°, 135°or 270°. Figure 10:Different phase lock angles 0°/135°/270°. In Web sever -> Option “Setting” -> Phase Lock Setting, the angle of phase lock can be set in...

  • Page 24: Point Cloud

    Figure 11: Coordinate system mapping between polar system and XYZ system. Note 1: In the RS-Ruby Lite 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 11.

  • Page 25: Laser Channel In Spatial Distribution

    RS-Ruby Lite Users’ Manual 8.2 Laser Channel in Spatial Distribution 80 lasers in RS-Ruby Lite are defined as 80 channels. The vertical angles of those lasers are distributed in the range of -25°~+15°. The distribution of the angles is non-uniform.
  • Page 26 RS-Ruby Lite Users’ Manual -6.85 4.25 -0.39 2.55 0.41 2.55 -2.89 0.85 6.56 5.95 1.21 2.55 -2.09 0.85 -8.352 -0.85 -0.69 -2.55 -3.99 -4.25 -6.19 -0.85 0.11 -2.55 -3.19 -4.25 -5.39 -0.85 0.91 -2.55 -2.39 -4.25 -4.59 -0.85 -1.59 -4.25 -3.79...
  • Page 27 RS-Ruby Lite Users’ Manual -9.244 -2.55 -0.79 -4.25 0.01 -4.25 0.81 -4.25 -2.49 -5.95 -0.85 1.61 -4.25 -1.69 -5.95...

  • Page 28: Reflectivity

    Hence, the character can be used to distinguish the different materials. RS-Ruby Lite 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 objects.
  • Page 29 RS-Ruby Lite Users’ Manual 10 Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Red LED on Interface BOX doesn’t light Verify the power connection and polarity  or blink Verify if the power supply satisfy the requirement (at least 4A ...
  • Page 30 RS-Ruby Lite Users’ 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 ...

  • Page 31: Appendix A Websever

    IP is changed, the websever IP will also turn into the new IP of device. A.1 Visiting Websever After correctly connecting the RS-Ruby Lite with PC and configuring them, use a web browser to visit the device IP (default device ip: 192.168.1.200) to enter into the Homepage including...

  • Page 32: Parameter Setting

    RS-Ruby Lite Users’ Manual A.2 Parameter Setting In the option “Setting”, the Device IP, Port Number, Return Mode, Rotate Speed can be set. The concrete functions are shown in Figure A-2 as below: 1. RS-Ruby Lite supports unicast (default)/ boardcast mode.

  • Page 33: Device Diagnose/ Operating Status

    RS-Ruby Lite Users’ Manual A.3 Device Diagnose/ Operating Status In option “Diagnose”, the LiDAR operating status including Voltage, Current, Real-time Rotate Speed, Operating Duration and Operating Temperature is shown in following Figure A-3: Figure A - 3: Operating Status and Error Diagnose in Websever.
  • Page 34 RS-Ruby Lite Users’ Manual A.4 Firmware Update In the option “System”, the update of top board firmware, bottom board firmware, software and motor firmware can be updated. Manipulation is shown as below: 1. Prepare the firmware needed to update 2. Select firmware and click Button “Open”.

  • Page 35: Appendix B The Format Of All Register

    RS-Ruby Lite Users’ Manual Appendix B The Format of all Register Here are definitions and more details on information registers as mentioned in Chapter 5. B.1 Motor Speed (MOT_SPD) Motor Speed (2 bytes in total) Byte No. byte1 byte2 Function...

  • Page 36: Fov Setting (Fov Set)

    RS-Ruby Lite Users’ Manual B.3 FOV Setting (FOV SET) FOV Setting ( 4bytes in total) Byte No. byte1 byte2 byte3 byte4 Function FOV_START FOV_END Register Description: Set the horizontal angle range of the device for outputting valid data, FOV_START and FOV_END adjustment range 0~36000, corresponding angle 0~360°, the data storage format...
  • Page 37 RS-Ruby Lite Users’ Manual B.8 Corrected Vertical Angle (COR_VERT_ANG) Corrected Vertical Angle (384bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 COR_VERT_ANG Channel 2 COR_VERT_ANG Channel 3 COR_VERT_ANG Byte No. byte10 byte11 byte12 byte13...
  • Page 38 RS-Ruby Lite Users’ Manual B.9 Corrected Horizontal Offset Angle (COR_HOR_ANG) Corrected Vertical Angle (384bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 COR_HOR_ANG Channel 2 COR_HOR_ANG Channel 3 COR_HOR_ANG Byte No. byte10 byte11 byte12...

  • Page 39: Serial Number (Sn)

    RS-Ruby Lite Users’ Manual B.10 Serial Number (SN) SN (6 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 Function Similar to MAC address, 6-byte hexadecimal value to identify device. B.11 Time (UTC_TIME) Time Register (10bytes in Total) Byte No.

  • Page 40: Appendix C Rsview

    RS-Ruby Lite Users’ Manual Appendix C RSView In this appendix, the record, visualization, save and review of the data from RS-Ruby Lite will be interpreted with using 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.

  • Page 41: Visualization Of Point Cloud

    RS-Ruby Lite Users’ Manual C.4 Visualization of point cloud 1. Connect the RS-Ruby Lite 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 (Figure C-1).

  • Page 42: Save Streaming Sensor Data Into Pcap File

    (Figure C-5). After clicking “save” button, RSView begins writing data into pcap file. (Note: RS-Ruby Lite 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 C - 5: RSView Record Saving Dialog.
  • Page 43 Figure C - 7: Select the PCAP File. 4. In dialogue box “Sensor Configuration”, please add and select the right configuration file of RS-Ruby Lite, then click OK. 5. Clicking Play/Pause button can make 3D point cloud stream play and pause. Using the Scrub tool can select the interested frame.
  • Page 44 RS-Ruby Lite Users’ Manual 6. In order to inspecting partial relevant point cloud data from a closer aspect, please scrub to an interested frame and click the Spreadsheet button (Figure C-9). A data table will be displayed on the right side. It contains all displayed data points in the frame.
  • Page 45 RS-Ruby Lite Users’ Manual Figure C - 13: RSView Selected Points. 11. Any selected point can be saved by doing Spreadsheet > Output csv data > Select Frames. Figure C - 14: RSView Point Cloud Save.

  • Page 46: Appendix D Rs-Ruby Lite Ros&Ros2 Package

    LiDAR driver. rslidar_sdk is the newest LiDAR driver, it supports our 5 mechanical LiDARs (RS-16, RS-32, RS-Bp, RS-Ruby, RS-Ruby Lite) at this moment. There are 3 compile modes: 1. Directly compile Enter the main directory of rslidar_sdk packet, then create a build folder to compile complete project.

  • Page 47: Display Of The Real-Time Data

    In rslidar_sdk, there are explicitly instruction document to guide visualization of point cloud in ROS or ROS2 environment. Here, ROS environment is as the example. 1. Connect the RS-Ruby Lite to PC via twister pair wire with RJ45 connector, power on, then wait for PC to recognize LiDAR.

  • Page 48: Display Offline Data

    RS-Ruby Lite Users’ Manual Figure D - 1: Display point cloud Data in rviz. D.5 Display offline data For offline data packet (rosbag or pcap) in rslidar_sdk, there is completely instructions to guide to read, parse and visualize point cloud.

  • Page 49: Appendix E Dimension

    RS-Ruby Lite Users’ Manual Appendix E Dimension Figure E - 1: Dimensions of Ruby.
  • Page 50 RS-Ruby Lite Users’ Manual Appendix F Suggestion of Mechanical LiDAR Mount Please make sure that the surface of platform used for mounting LiDAR is as smooth as possible. Please make sure the locating pin on the mount surface do exceed 4mm high.

  • Page 51: Appendix G Cleaning Of Lidar

    RS-Ruby Lite Users’ Manual Appendix G Cleaning of LiDAR G.1 Attention Before cleaning the RS-LiDAR, please read through this entire Appendix G. Otherwise, improper handling may permanently damage the LiDAR. When the sensor is used in a harsh environment, it is necessary to clean it in time to keep its performance.
  • Page 52 RS-Ruby Lite Users’ Manual...
  • Page 53 RS-Ruby Lite Users’ Manual...
  • Page 54 RS-Ruby Lite Users’ Manual Revision History Version Number Description Date Edited by 1.0.0 Initial release 2020-08-03...
  • Page 55 RS-Ruby Lite Users’ Manual Terminology MSOP Main data Stream Output Protocol DIFOP Device Information Output Protocol Field of View Precision Time Protocol Network Time Protocol Global Positioning System Universal Time Coordinated Wave_mode Flag of Wave Mode Temp Temperature Information Resv...
  • Page 56 RS-Ruby Lite Users’ Manual TABLE OF CONTENTS 1 Safety Notice..........................1 2 Introduction.............................2 4 Interface............................4 3 Product Specifications........................3 4.1 Power Supply........................4 4.2 Data Output Interface of LiDAR..................4 4.3 Interface Box........................5 4.4 Interface Box Connection....................6 5.1 MSOP..........................8 5 Communication Protocol......................7...
  • Page 57 Appendix D RS-Ruby Lite ROS&ROS2 Package..............41 C.6 Replay Recorded Sensor Data from PCAP Files............38 D .1 Software Installation......................41 D.2 Download & Compile RS-Ruby Lite ROS Package..........41 D.4 Display of the real-time data..................42 D.3 Configure PC IP address....................42 D.5 Display offline data......................43 Appendix E Dimension........................

  • Page 58: Safety Notice

    RS-Ruby Lite Users’ Manual Congratulations on your purchase of a RS-Ruby LiDAR Sensor. Please read carefully this User’s Manual 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, Please do not privately open the housing and modify the structure of LiDAR.

  • Page 59: Introduction

    RS-Ruby Lite, the 80-beam LiDAR developed by RoboSense, is the world leading multi-beam LiDAR that is particularly utilized in perception of environment for autonomous driving. RS-Ruby Lite is realized by solid-state hybrid LiDAR. The technical details are listed below: measurement rang: 230 meters ...

  • Page 60: Product Specifications

    RS-Ruby Lite Users’ Manual 3 Product Specifications Table 1: Product Parameters. TOF measuring distance, including the reflectivity  80 channels  Range: from 1.5m to 230m (160m@10%NIST)  Accuracy: ±5cm (typical value)  FOV(vertical): -25°~+15° Sensor  Angle resolution(vertical): at least 0.1°...

  • Page 61: Power Supply

    The recommend supply voltage is 19 VDC. The power consumption is about 38 W. 4.2 Data Output Interface of LiDAR The data output access of RS-Ruby Lite is physically protected by an aviation terminal connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins of...

  • Page 62: Interface Box

    Figure 2: Aviation Connector Pin Number of RS-Ruby Lite. 4.3 Interface Box In order to connect the RS-Ruby Lite conveniently, there is an interface box provided. There are accesses for power supply, Ethernet and GPS on the Interface Box. Meanwhile, there are also indicator LEDs for checking the status of power supply.

  • Page 63: Interface Box Connection

    While red or green LED (GPS Module connected) is dark, please check whether the power supply is out of order or damaged. If it is not intact, that could prove that the Interface Box is damaged. Please send the damaged Interface Box back to RoboSense Service.

  • Page 64: 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 Lite is set in the factory as shown in the Table 2, but can be changed by user as needed.

  • Page 65: Msop

    2 channel data 2 channel data ... channel data ... channel data ... channel data ... channel data 80 channel data 80 channel data 80 channel data 80 Figure 5: MSOP Packet of RS-Ruby Lite in Single Return Mode.

  • Page 66: Data Field

    RS-Ruby Lite Users’ Manual 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. Table 4: Format of Header.

  • Page 67: Msop Data Package

    RS-Ruby Lite Users’ Manual Hence, the angle value in this block is 228.41°. Notice: the 0°axis of azimuth is co-axis and same positive direction with the Y axis in Figure 5.1.2.2 Channel Data Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance information.

  • Page 68: Difop

    :22841 divide by :100 result :228.41° Figure 6: MSOP Packet of RS-Ruby Lite in Single Return Mode. 5.2 DIFOP Device Info Output Protocol, abbreviation: DIFOP I/O Type: output from device, input to PC Default port number: 7788 DIFOP is a protocol that reports and outputs device information including the device serial number (S/N), firmware version, internet setting, calibration data, electrical machine setting and operation status, fault detection information.
  • Page 69 RS-Ruby Lite Users’ Manual Port Number of MSOP Reserved Port Number of DIFOP Reserved FOV of start angle FOV of end angle Reserved Motor Phase Lock Top Board Firmware Version Bottom Board Firmware Version Bottom Board Software Version Electrical Motor Firmware Version...

  • Page 70: Time Synchronization

    RS-Ruby Lite Users’ Manual 6 Time Synchronization RS-Ruby Lite supports two time synchronization modes, one is external GPS + PPS and the other is PTP. Mode switching can be realized through using web application(please refer to Appendix A.2). 6.1 GPS Synchronization The time of RS-Ruby Lite can be synchronized with GPS module from external.

  • Page 71: Precision Time Protocol (Ptp)

    3. The different GPS module could send out different GPRMC message length, the RS-Ruby Lite could be compatible with the most GPS modules on the market. Please contact RoboSense of technical support when it is incompatible. 6.2 Precision Time Protocol (PTP) 6.2.1 Principle of PTP...
  • Page 72 RS-Ruby Lite Users’ Manual Figure 8: Topology of LiDAR, PC and PTP Master. Notice: 1. PTP Master is a third-party device that is not included in accessories while shipment. It needs to be bought by user. 2. Our product is only as a PTP Slave that gets the synchronized time from PTP Master. The synchronization accuracy cannot be examined by LiDAR.
  • Page 73 RS-Ruby Lite Users’ Manual 0x07141cde(118758610) 2) The second part is UTC timestamp, which indicates the incremental count of seconds from 0:00 (London time) on January 1, 1970 to the current time. Figure 9 shows the identification of London time 2003/01/06 09...

  • Page 74: Key Specifications

    7.1.4 Return Mode Flag The factory default setting of return mode on RS-Ruby Lite is Last Return Mode. The relative return mode setting refers to “Return Mode” in appendix A. In DIFO packet, the 300th. Byte indicates the return mode flag: Table 8: Flag and Return Mode.
  • Page 75 RS-Ruby Lite Users’ Manual In Figure 10 different Phase Lock is shown as red arrow. When PPS is triggered, sensor can rotate to the 0°, 135°or 270°. Figure 10:Different phase lock angles 0°/135°/270°. In Web sever -> Option “Setting” -> Phase Lock Setting, the angle of phase lock can be set in...

  • Page 76: Point Cloud

    Figure 11: Coordinate system mapping between polar system and XYZ system. Note 1: In the RS-Ruby Lite 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 11.

  • Page 77: Laser Channel In Spatial Distribution

    RS-Ruby Lite Users’ Manual 8.2 Laser Channel in Spatial Distribution 80 lasers in RS-Ruby Lite are defined as 80 channels. The vertical angles of those lasers are distributed in the range of -25°~+15°. The distribution of the angles is non-uniform.
  • Page 78 RS-Ruby Lite Users’ Manual -6.85 4.25 -0.39 2.55 0.41 2.55 -2.89 0.85 6.56 5.95 1.21 2.55 -2.09 0.85 -8.352 -0.85 -0.69 -2.55 -3.99 -4.25 -6.19 -0.85 0.11 -2.55 -3.19 -4.25 -5.39 -0.85 0.91 -2.55 -2.39 -4.25 -4.59 -0.85 -1.59 -4.25 -3.79...
  • Page 79 RS-Ruby Lite Users’ Manual -9.244 -2.55 -0.79 -4.25 0.01 -4.25 0.81 -4.25 -2.49 -5.95 -0.85 1.61 -4.25 -1.69 -5.95...

  • Page 80: Reflectivity

    Hence, the character can be used to distinguish the different materials. RS-Ruby Lite 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 objects.
  • Page 81 RS-Ruby Lite Users’ Manual 10 Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Red LED on Interface BOX doesn’t light Verify the power connection and polarity  or blink Verify if the power supply satisfy the requirement (at least 4A ...
  • Page 82 RS-Ruby Lite Users’ 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 ...

  • Page 83: Appendix A Websever

    IP is changed, the websever IP will also turn into the new IP of device. A.1 Visiting Websever After correctly connecting the RS-Ruby Lite with PC and configuring them, use a web browser to visit the device IP (default device ip: 192.168.1.200) to enter into the Homepage including...

  • Page 84: Parameter Setting

    RS-Ruby Lite Users’ Manual A.2 Parameter Setting In the option “Setting”, the Device IP, Port Number, Return Mode, Rotate Speed can be set. The concrete functions are shown in Figure A-2 as below: 1. RS-Ruby Lite supports unicast (default)/ boardcast mode.

  • Page 85: Device Diagnose/ Operating Status

    RS-Ruby Lite Users’ Manual A.3 Device Diagnose/ Operating Status In option “Diagnose”, the LiDAR operating status including Voltage, Current, Real-time Rotate Speed, Operating Duration and Operating Temperature is shown in following Figure A-3: Figure A - 3: Operating Status and Error Diagnose in Websever.
  • Page 86 RS-Ruby Lite Users’ Manual A.4 Firmware Update In the option “System”, the update of top board firmware, bottom board firmware, software and motor firmware can be updated. Manipulation is shown as below: 1. Prepare the firmware needed to update 2. Select firmware and click Button “Open”.

  • Page 87: Appendix B The Format Of All Register

    RS-Ruby Lite Users’ Manual Appendix B The Format of all Register Here are definitions and more details on information registers as mentioned in Chapter 5. B.1 Motor Speed (MOT_SPD) Motor Speed (2 bytes in total) Byte No. byte1 byte2 Function...

  • Page 88: Fov Setting (Fov Set)

    RS-Ruby Lite Users’ Manual B.3 FOV Setting (FOV SET) FOV Setting ( 4bytes in total) Byte No. byte1 byte2 byte3 byte4 Function FOV_START FOV_END Register Description: Set the horizontal angle range of the device for outputting valid data, FOV_START and FOV_END adjustment range 0~36000, corresponding angle 0~360°, the data storage format...
  • Page 89 RS-Ruby Lite Users’ Manual B.8 Corrected Vertical Angle (COR_VERT_ANG) Corrected Vertical Angle (384bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 COR_VERT_ANG Channel 2 COR_VERT_ANG Channel 3 COR_VERT_ANG Byte No. byte10 byte11 byte12 byte13...
  • Page 90 RS-Ruby Lite Users’ Manual B.9 Corrected Horizontal Offset Angle (COR_HOR_ANG) Corrected Vertical Angle (384bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 COR_HOR_ANG Channel 2 COR_HOR_ANG Channel 3 COR_HOR_ANG Byte No. byte10 byte11 byte12...

  • Page 91: Serial Number (Sn)

    RS-Ruby Lite Users’ Manual B.10 Serial Number (SN) SN (6 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 Function Similar to MAC address, 6-byte hexadecimal value to identify device. B.11 Time (UTC_TIME) Time Register (10bytes in Total) Byte No.

  • Page 92: Appendix C Rsview

    RS-Ruby Lite Users’ Manual Appendix C RSView In this appendix, the record, visualization, save and review of the data from RS-Ruby Lite will be interpreted with using 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.

  • Page 93: Visualization Of Point Cloud

    RS-Ruby Lite Users’ Manual C.4 Visualization of point cloud 1. Connect the RS-Ruby Lite 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 (Figure C-1).

  • Page 94: Save Streaming Sensor Data Into Pcap File

    (Figure C-5). After clicking “save” button, RSView begins writing data into pcap file. (Note: RS-Ruby Lite 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 C - 5: RSView Record Saving Dialog.
  • Page 95 Figure C - 7: Select the PCAP File. 4. In dialogue box “Sensor Configuration”, please add and select the right configuration file of RS-Ruby Lite, then click OK. 5. Clicking Play/Pause button can make 3D point cloud stream play and pause. Using the Scrub tool can select the interested frame.
  • Page 96 RS-Ruby Lite Users’ Manual 6. In order to inspecting partial relevant point cloud data from a closer aspect, please scrub to an interested frame and click the Spreadsheet button (Figure C-9). A data table will be displayed on the right side. It contains all displayed data points in the frame.
  • Page 97 RS-Ruby Lite Users’ Manual Figure C - 13: RSView Selected Points. 11. Any selected point can be saved by doing Spreadsheet > Output csv data > Select Frames. Figure C - 14: RSView Point Cloud Save.

  • Page 98: Appendix D Rs-Ruby Lite Ros&Ros2 Package

    LiDAR driver. rslidar_sdk is the newest LiDAR driver, it supports our 5 mechanical LiDARs (RS-16, RS-32, RS-Bp, RS-Ruby, RS-Ruby Lite) at this moment. There are 3 compile modes: 1. Directly compile Enter the main directory of rslidar_sdk packet, then create a build folder to compile complete project.

  • Page 99: Display Of The Real-Time Data

    In rslidar_sdk, there are explicitly instruction document to guide visualization of point cloud in ROS or ROS2 environment. Here, ROS environment is as the example. 1. Connect the RS-Ruby Lite to PC via twister pair wire with RJ45 connector, power on, then wait for PC to recognize LiDAR.

  • Page 100: Display Offline Data

    RS-Ruby Lite Users’ Manual Figure D - 1: Display point cloud Data in rviz. D.5 Display offline data For offline data packet (rosbag or pcap) in rslidar_sdk, there is completely instructions to guide to read, parse and visualize point cloud.

  • Page 101: Appendix E Dimension

    RS-Ruby Lite Users’ Manual Appendix E Dimension Figure E - 1: Dimensions of Ruby.

  • Page 102: Appendix F Suggestion Of Mechanical Lidar Mount

    RS-Ruby Lite Users’ Manual Appendix F Suggestion of Mechanical LiDAR Mount Please make sure that the surface of platform used for mounting LiDAR is as smooth as possible. Please make sure the locating pin on the mount surface do exceed 4mm high.

  • Page 103: Attention

    RS-Ruby Lite Users’ Manual Appendix G Cleaning of LiDAR G.1 Attention Before cleaning the RS-LiDAR, please read through this entire Appendix G. Otherwise, improper handling may permanently damage the LiDAR. When the sensor is used in a harsh environment, it is necessary to clean it in time to keep its performance.
  • Page 104 RS-Ruby Lite Users’ Manual...

Table of Contents