RoboSense RS-LiDAR-M1 User Manual
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RoboSense RS-LiDAR-M1 User Manual

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RS-LiDAR-M1 User Guide
User Guide
* 【
Executive Standard
】 Q/RS 001-2021

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Summary of Contents for RoboSense RS-LiDAR-M1

  • Page 1 RS-LiDAR-M1 User Guide User Guide * 【 Executive Standard 】 Q/RS 001-2021...
  • Page 2 RS-LiDAR-M1 User Guide Revision History Revision Content Date Edited by Initial issue 2020-11-26 Add the X, Y and Z coordinate calculation formula in Section 2.1.2.1 Add Appendix A RSView 2020-12-02 Add Appendix B Driver & SDK Add Appendix C The use of MEMS Tool...

  • Page 3: Table Of Contents

    RS-LiDAR-M1 User Guide Table of Contents 1 Product Specifications ....................... 1 2 Communication Protocol ......................3 2.1 Main Data Stream Output Protocol (MSOP) ..............4 2.2 LiDAR Information Output Protocol (DIFOP) ..............10 3 Interface Box Connection and State Machine ..............13 3.1 The Connection of Interface Box ..................

  • Page 4: Product Specifications

    The precision value is applicable to most channels, but difference may exist between some channels. The five channels of RS-LiDAR-M1 are horizontally arranged, with staggered positions vertically; The maximum envelope vertical FOV of a single channel is 25.2 °; Since the FOV of five channels are present irregularly, based on the maximum envelope principle, the vertical FOV will be calculated as 35.79 °；...
  • Page 5 RS-LiDAR-M1 User Guide  Power consumption: 15w  Working voltage: 9~32VDC Weight: about 0.73kg (not including data cable)  Mechanical/electroni  Dimensions: Length 110mm * Width 108mm * Height 45m c operation  Protection level: IP67, IP6K9K  Operating temperature range: -40°C~85°C(Forced convection is required for long hours of work) ...

  • Page 6: Communication Protocol

    58.2 Mbps. In dual return mode, the rate must be no less than 116.4 Mbps. RS-LiDAR-M1 network parameters are configurable, and the factory default IP and fixed client port number are set as listed in the table below:...

  • Page 7: Main Data Stream Output Protocol (Msop)

    RS-LiDAR-M1 User Guide Protocol data LiDAR Information Output Output device DIFOP 256 Bytes Protocol information Note: The following chapters describe and define the payload (MSOP package of 1210 bytes and DIFOP package of 256 bytes) of the protocols. 2.1 Main Data Stream Output Protocol (MSOP) Main data Stream Output Protocol is abbreviated as MSOP.
  • Page 8 RS-LiDAR-M1 User Guide Figure 1: MSOP Packet Structure 2.1.1 Header The header is 32-byte long, and is used for identification of the starting position of data, packet counting, UDP communication reservation, and time stamp storage. The detailed definition is as follows: Table 4: MSOP Header Header（32 Bytes...
  • Page 9 RS-LiDAR-M1 User Guide 2.1.2 Data Packet The data packet in the MSOP packet stores the data measured by the LiDAR. It has a total of 1175 bytes consisting of 25 data blocks, each data block has 47 bytes. In single return mode, each data block represent the complete measurement data measured by a group of 5 laser channels at one time.
  • Page 10 RS-LiDAR-M1 User Guide resev. Reserved bits In the polar coordinate system, the radial ch2_radius distance value of the channel 2 points, the distance resolution is 5mm In the polar coordinate system, the vertical ch2_elevation angle of the channel 2 points, the resolution is 0.01°...
  • Page 11 RS-LiDAR-M1 User Guide In the polar coordinate system, the horizontal ch5_azimuth angle of the channel 5 points, the resolution is 0.01° Reflection intensity value of the channel 5 ch5_intensity points, the value range is 0~255 resev. Reserved bits N is the N data block in any MSOP packet.
  • Page 12 Therefore, the radial distance of this channel in the corresponding elevation and azimuth direction is 5.1 m. Calculation of XYZ coordinates: Use Wireshark to capture the data packets of RS-Lidar-M1, as shown in the figure below: Example of parameters calculation: 1. time_offset: data block time offset HEX: 0x00 -> DEC: 00 -> 0 ㎲...

  • Page 13: Lidar Information Output Protocol (Difop)

    RS-LiDAR-M1 User Guide 5. azimuth: horizontal angle HEX: 0x94,0xdf -> DEC: 148,223 -> azimuth = ((148 x 256 + 223)-32768) x 0.01[degree] = 53.43 The X, Y, Z coordinates of the point cloud can be calculated by the formula below: Thus, the X, Y, Z coordinates of the point cloud of one transmitting in the single return mode of this channel is (7.88m,10.62m,2.17m)。...
  • Page 14 RS-LiDAR-M1 User Guide Reserved Reserved bits Setting frame rate value， Frame rate setting not enable yet Ethernet IP source address Ethernet IP destination address Ethernet Ethernet IP local MAC address MSOP port number DIFOP port number Horizontal FOV start angle...
  • Page 15 RS-LiDAR-M1 User Guide 1. The Header (DIFOP identification header) in the table is 0xa5, 0xff, 0x00, 0x5a, 0x11,0x11,0x55, 0x55, which can be used as the packet inspection sequence. 2. The LSB of the horizontal FOV is 0.01°the minimum value is 0°, and the maximum value is 120°.

  • Page 16: Interface Box Connection And State Machine

    Figure 2: Image for topology of LiDAR and PC Note： Figure 2 shows the topology of connection of Interface Box (AN1). Currently, RS-LiDAR-M1 has two versions of interfaces, namely AN1 and AN2, supporting the following two types of Interface Boxes...

  • Page 17: State Machine Of Lidar

    RS-LiDAR-M1 User Guide Connecting to LiDAR Connecting to Power Adaptor and Host Computer 3.2 State Machine of LiDAR ·...

  • Page 18: Time Synchronization

    E2E mode: apply Request Response Mechanism P2P mode: apply a peer delay mechanism (Peer Delay Mechanism). Note: The PTP protocol provided by RoboSense only supports the L2 layer of Ethernet protocol, E2E mode. gPTP (general precise time protocol) is a derivative protocol of PTP in Time-Sensitive Networking.

  • Page 19: Use Linuxptp Tool To Verify Time Synchronization

    Users need to purchase that by themselves in advance; 2. As a Slave terminal, RS-LiDAR-M1 only obtains the time from gPTP Grand Master device with no hesitation about the accuracy of the master clock by principle. If the timestamp of LiDAR point cloud deviates from the real-time, please check whether gPTP Grand Master clock is accurate;...
  • Page 20 RS-LiDAR-M1 User Guide card is enp2s0 below. Figure 4: Find network card name 2. Use the command $ethtool - T enp2s0 (network card’s name) to check whether the network card supports PTP hardware. For gPTP synchronization, hardware support is required, PTP Hardware Clock should be 1.
  • Page 21 Do not print messages to syslog Print software version and exit Help command Use command to synchronize RS-LiDAR-M1: (1) PTP E2E (L2 layer) command: $sudo ptp4l -E -S -2 -m -i enp2s0 (network card name) If PTP Hardware Clock is 1(hardware supported), you can use -H instead of -S...

  • Page 22: Gps Time Synchronization

    1 4.3 GPS Time Synchronization In case that users would like to synchronize RS-LiDAR-M1 with GPS module, it is necessary for gPTP Grand Master to receive GPS timing service at first. Please consult gPTP Grand Master device provider for the specific connectors and GPS timing service guidance.
  • Page 23 RS-LiDAR-M1 User Guide Figure 6: Topology of GPS Timing service synchronization ·...

  • Page 24: Appendix A Rsview

    The original sensor data can be also captured and examined by using other free of charge tools, such as Wireshark or tcp-dump. But visualization of the 3D data through using RSView is easy to realize. User may contact RoboSense technical support for the specific RSview Version.

  • Page 25: Visualization Of Point Cloud

    A.4 Visualization of Point Cloud 1. Connect the RS-LiDAR-M1 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 A-1).

  • Page 26: Save Streaming Sensor Data Into Pcap File

    LiDAR (as shown in Fig. A-4). The stream can be paused by pressing the Play button, click again, the stream continues. Figure A-4：RS-LiDAR-M1 Sensor Stream display 7. If there is no point cloud display, please click Tools and check if the MSOP and DIFOP port number are correctly set in the Data Port Setting window.
  • Page 27 Save button (Fig. A-6), RSView begins writing data into pcap file. (Note: RS-LiDAR-M1 will generate enormous data, therefore, it is best to use a fast, local HDD or SSD, instead of a slow subsystem, such as USB storage LiDAR or network drive.) Figure A-6：RSView record data...
  • Page 28 RS-LiDAR-M1 User Guide Figure A-8：Start Wireshark 3. If the figure below shows up, the connection to the LiDAR is normal. The data in the red boxes represent "LiDAR IP", "PC IP", "MSOP port number", and "DIFOP packet port number" respectively.

  • Page 29: Replay Recorded Sensor Data From Pcap Files

    RS-LiDAR-M1 User Guide Figure A-11：Wireshark data saving 6. Now, the corresponding files can be found in the specified folder directory and you can use the RSView software or driver to view the point cloud (please refer to the product user manual for the RSView operation guide).
  • Page 30 Figure A-14 Import PCAP File 3. In the dialogue box Sensor Configuration, add and select the right configuration file of RS-LiDAR-M1, then click OK button. 4. Click Play button to play or pause 3D point cloud data streaming. Using the Scrub tool to select the interested frame.
  • Page 31 RS-LiDAR-M1 User Guide Figure A-16 RSView Spreadsheet 6. You can adjust the width of each column of the table, or sort for clearer inspection. Figure A-17 RSView Spreadsheet display 7. Click Show only selected elements in the spreadsheet, only the data of selected points will be displayed.
  • Page 32 RS-LiDAR-M1 User Guide Figure A-19 RSView Select All Points tool 9. In the 3D point cloud display space, use the mouse to draw a rectangle to frame some data points. The data of these points will be displayed in the Spreadsheet and these points will turn pink in the point cloud display space (Figure A-20).

  • Page 33: Appendix B Driver & Sdk

    RS Driver provides a cross-platform LiDAR driver kernel for RoboSense LiDAR products, which is convenient for users to re-develop and use. The driver kernel of v1.3.0 and later versions already support analysis and transformation of RS-LiDAR-M1 point cloud. Users can download the rs_driver package from our official account on GitHub: https://github.com/RoboSense-LiDAR/rs_driver...
  • Page 34 RS-LiDAR-M1 User Guide Figure B – 1: Add environment variables  Pcap First, install the Pcap runtime library (https://www.winpcap.org/install/bin/WinPcap_4_1_3.exe). Download the developer package (https://www.winpcap.org/install/bin/WpdPack_4_1_2.zip) to any location, Then, add the path of WpdPack_4_1_2/WpdPack to the environment variable PATH, as shown in Figure B-1.

  • Page 35: Compile And Install Rslidar_Sdk

    CMake configuration: $cmake -DENABLE_TRANSFORM=ON .. B.2 Compile and Install rslidar_sdk rslidar_sdk is the LiDAR driver software package of RoboSense in the Ubuntu environment, including the LiDAR driver kernel, ROS expansion function, ROS2 expansion function, and Protobuf-UDP communication expansion features. Users without...
  • Page 36 RS-LiDAR-M1 User Guide secondary development needs, or users who want to directly use ROS or ROS2 for secondary development, can directly use this software package to view the point cloud with the RVIZ visualization tool that comes with ROS or ROS2. For users who have further...
  • Page 37 RS-LiDAR-M1 User Guide compilation can access some ROS features (excluding ROS2), but it requires users to manually start roscore before the program starts, after the roscore starts, users need to manually open rviz to view the visualized point cloud results.
  • Page 38 LiDAR packet messages will be sent through ROS or ROS2, false-- forbidden. Since the LiDAR ROS packet message is a custom ROS message of RoboSense, users cannot directly echo the topic to view the specific content of the message. In fact, the packet is mainly used to record offline ROS packets, because the volume of the packet is smaller than the point cloud.
  • Page 39 127.0.0.1 lidar_type: the currently supported LiDAR types are listed in the sdk file in the README folder. RS-LiDAR-M1 belongs to type RSM1。 frame_id: the frame_id of point cloud messages. msop_port, difop_port: The msop port number and difop port number of the point cloud.
  • Page 40 - use LiDAR time as message timestamp; false - use system time as message timestamp. B.2.3.3 Example of Multiple LiDAR Sensors Connect 2 RS-LiDAR-M1 LiDAR sensors online and send the point cloud to ROS. Attention: Indentation of LiDAR part parameters common:...
  • Page 41 RS-LiDAR-M1 User Guide packet_send_ip: 127.0.0.1 - driver: lidar_type: RSBP frame_id: /rslidar msop_port: 1990 difop_port: 1991 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros: ros_recv_packet_topic: /left/rslidar_packets ros_send_packet_topic: /left/rslidar_packets ros_send_point_cloud_topic: /left/rslidar_points proto: point_cloud_recv_port: 60024 point_cloud_send_port: 60024 msop_recv_port: 60025 msop_send_port: 60025...
  • Page 42 RS-LiDAR-M1 User Guide 1. Direct compilation $cmake -DENABLE_TRANSFORM=ON $make -j4 2.ROS compilation $catkin_make -DENABLE_TRANSFORM=ON 2. ROS2 compilation $colcon build --cmake-args '-DENABLE_TRANSFORM=ON' B.2.4.3 Set the Coordinate Transformation Parameters The coordinate transformation parameters are the LiDAR part hidden parameters, including x, y, z, roll, pitch, and yaw. Here is an example of the parameter file, which can be configured by the user according to the actual situation.

  • Page 43: Appendix C Autosar Tool

    The little-robo tool is a customized Autosar tool developed by RoboSense for the Automotive- Grade LiDAR RS-LiDAR-M1. This tool is only for M1 0210 platform products based on the AutoSar architecture. Developed with UDS diagnostic DoIP protocol, this tool can be used to obtain basic information of LiDAR, such as source IP, target IP, MSOP Port, DIFOP Port, motherboard PS/PL firmware version, product serial number, etc.
  • Page 44 A license is required for the first-time running the software. As shown in Figure 2. Please use the following license serial number: robosense.autosar.mems.team Figure C - 2: RoboSense License Notice After entering the License Serial Number, check [I Agree], and click [Auth] to enter the tool operation interface, as shown in Figure 3.
  • Page 45 RS-LiDAR-M1 User Guide Figure C - 4: LiDAR basic information interface (Linked mode) ①LiDAR target IP is 192.168.1.102 by default. It can be modified. After entering the desired IP address in the box, click [TST] to confirm, and then restart the LiDAR to complete the modification;...
  • Page 46 RS-LiDAR-M1 User Guide ⑰ROI ON, click to turn on the ROI function; ⑱ROI OFF, click to turn off the ROI function; ⑲RESET, click to soft restart the LiDAR; ⑳OpenFile, open the firmware path; ○ Download, start the download program; ○...
  • Page 47 RS-LiDAR-M1 User Guide left to confirm; Example: If the LiDAR IP is 192.168.1.205, please first change the ECU IP address to 192.168.1.205, and click [ECU] to confirm, and then click [Link]. if Unlink pops up, it has entered Link mode.
  • Page 48 RS-LiDAR-M1 User Guide C.3.3.3 ROI Function On/Off Switch 1. ROI on/off function: Click [ROI ON] button to turn on ROI; click [ROI OFF] button to turn off ROI. 2. ROI function status query The ROI status can be queried via DID Query;...
  • Page 49 RS-LiDAR-M1 User Guide Step3. After the upgrade is done, the upgrade completion window pops up, click OK to complete the upgrade; Step4. After the upgrade is done, LiDAR will start automatically. Re-enter the Link mode after booting and get the version information for confirmation.

  • Page 50: Appendix D Dimension

    RS-LiDAR-M1 User Guide Appendix D Dimension Drawing of LiDAR with interface AN1： ·...
  • Page 51 RS-LiDAR-M1 User Guide Definition of AN1-Pins: ·...
  • Page 52 RS-LiDAR-M1 User Guide Drawing of LiDAR with interface AN2： ·...
  • Page 53 RS-LiDAR-M1 User Guide Definition of AN2-Pins: ·...
  • Page 54 RS-LiDAR-M1 User Guide ·...

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