RoboSense LiDAR RS-Bpearl User Manual
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RoboSense LiDAR RS-Bpearl User Manual

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Summary of Contents for RoboSense LiDAR RS-Bpearl

  • Page 1 RS-Bpearl User manual...
  • Page 2 RS-Bpearl User manual Revision History Issue Modifications Release Date Edited by Original issue 2019-8-14 Updated product appearance image 2019-12-11 Updated product mechanical dimensions Updated sensor power consumption Updated use instructions of RSView in Apendix C Updated Appendix A Added footnotes to product specifications Updated the information in the table of Laser Channels and Vertical Angles 2.0.1...
  • Page 3 RS-Bpearl User manual Terminologies MSOP Main data Stream Output Protocol DIFOP Device Info Output Protocol Field Of View Precision Time Protocol Global Positioning System Universal Time Coordinated Protocol version number, 00 represents old version, 01 Protocol represents the latest version Wave_mode Echo flag Temp...

  • Page 4: Table Of Contents

    RS-Bpearl User manual Contents 1. Safety Notices..........................7 2. Product Appearance and Interface....................8 2.1. Product Appearance......................8 2.2. Aviation Plug and Pin Definition..................8 2.3. Interface Box........................9 3. Unboxing & Installation......................11 3.1. Standard Package......................11 3.2. Sensor Mounting......................11 3.3.
  • Page 5 C.8 Online Firmware Update with RSView................72 C.10 Fault Diagnosis with RSView.....................73 D.1 Install Software........................75 Appendix D RS-Bpearl ROS&ROS2 Package..................75 D.2 Download & Compile RoboSense LiDAR Driver Package........... 75 D.3 Configure PC IP........................76 D.4 Real Time Display........................76 D.5 View Offline Data........................77 Appendix F Sensor Mounting......................
  • Page 6 This manual is protected by copyright. Any rights arising from this copyright are owned by RoboSense. Reproduction of this manual or part of the manual is only permitted within the legal scope of the copyright law. Without obtaining any authorization, this document shall not be abridged or translated.

  • Page 7: Safety Notices

     Heed Warnings - All warnings on the product and in the operating instructions should be adhered to.  Servicing – Except for what’s described in this manual, the sensor has no field serviceable parts. For servicing, please contact RoboSense sales or the authorized distributors.

  • Page 8: Product Appearance And Interface

    RS-Bpearl User manual 2. Product Appearance and Interface 2.1. Product Appearance Figure 2-1 LiDAR Coordinates and Rotation Direction 2.2. Aviation Plug and Pin Definition The data output access of the RS-Bpearl is physically protected by an aviation plug. From the LiDAR to the aviation plug the cable length is 1 meter.

  • Page 9: Interface Box

    RJ45 Ethernet, and GPS. (The length of the integrated cable attached to the Interface Box of the aviation plug version LiDAR is 3 meters, for other cable lengths, please contact RoboSense technical support). Figure 2-3 Definition of Interface Box Ports...
  • Page 10 If either LED (when connected to GPS) is off, please check whether the power input is normal; If the power input is normal, the Interface BOX may be damaged. Please contact your technical support or account manager at RoboSense. 1.1.2 RJ45 Ethernet Port The network interface on the Interface Box follows the EIA/TIA568 standard.

  • Page 11: Unboxing & Installation

    M4x15 *3；M4x20 *3 Note: There might be variants of the sensor and accessories that you are going to purchase or interested in, please contact RoboSense Sales for details. 3.2. Sensor Mounting The RS-Bpearl can be mounted to any application with a mounting base. As shown in the figure below, the mounting base of the RS-Bpearl should be flat, uneven surfaces should be avoided.

  • Page 12: Quick Connection

    RS-Bpearl User manual 3xM4 Screws, 6-8 mm above mounting surface; 25kgf.cm recommended tightening torque 2xΦ3.97±0.03 locating pins, 3-4 mm above mounting surface Figure 3-1 LiDAR Mounting Details The following situations should be avoided when mounting the LiDAR: 1) The reserved mounting space for the LiDAR is smaller than the volume of the LiDAR itself. 2) The integrated sensor cable is too tight.
  • Page 13 RS-Bpearl User manual To PC Network To GPS Interface Box To power adapter Figure 3-2 Interface Box Connection...

  • Page 14: Sensor Specifications And Features

    The data above is only for serial production products, and may not be applicable to any samples, testing devices and other non-production versions. If you have any questions, please contact RoboSense Sales. 2. The measurement range takes a 10% NIST diffuse reflector as the target, and the test results may be affected by environment conditions, including but not limited to factors such as ambient temperature and light The ranging accuracy takes a 50% NIST diffuse reflector as the target.

  • Page 15: Point Cloud Display

    RS-Bpearl User manual 4.2.1. Coordinate Mapping 4.2. Point Cloud Display Since the data packet output by the LiDAR only provides the horizontal rotation angle and distance infomation, in order to present a 3D point cloud image, the angle and distance information in polar coordinates need to be converted into x, y, z coordinates in the Cartesian coordinate system, and the conversion formula is as follows: �...

  • Page 16: Reflectivity

    RS-Bpearl User manual 4.3. Reflectivity RS-Bpearl measures the reflectivity of objects. The reflectivity is an index that measures the ability of an object to reflect light and is greatly related to the material of the object itself. RS-Bpearl reports calibrated reflectivity values from 0 to 255, among which diffuse reflectors report values from 0 to 100, and retroreflectors report values from 101 to 255.

  • Page 17: Laser Return Modes

    RS-Bpearl User manual 4.4.1. Principle of Laser Return Modes 4.4. Laser Return Modes RS-Bpearl supports multiple laser return modes, namely: Strongest Return, Last Return and Dual Return. When set to Dual Return mode, the details of the target will increase, and the volume of data is twice that in the Single Return mode.

  • Page 18: Phase Locking

    RS-Bpearl User manual 4.5. Phase Locking To minimize interference between multiple LiDARs, RS-Bpearl provides a phase-locking feature that enables users to control where the lase firings overlap. The phase locking feature, when a PPS pulse signal is triggered, askes the RS-Helios to rotate to a specific angle to fire laser pulses.

  • Page 19: Gps Time Synchronization

    RS-Bpearl User manual 4.6.1. GPS Time Synchronization Figure 4-4 GPS Time Synchronizatio Timing Diagram The GPS module continuously sends GPRMC message and PPS synchronization pulse signals to the sensor. The PPS synchronization pulse width is from 20ms to 200ms, and the GPRMC message 4.6.2.

  • Page 20: Ptp Time Synchronization

    GPRMC message format sent by most GPS modules on the market. 4.6.3. PTP Time Synchronization If an incompatibility occurs, please contact RoboSense technical support. PTP (Precision Time Protocol) is a time synchronization protocol, which itself is only used for high-precision time synchronization between devices, but it can also be borrowed for frequency synchronization between devices.

  • Page 21: Time Calculation

    1. The PTP Master timing equipment is a third-party equipment that needs to be purchased by the user independently, which is not included in the RoboSense standard product shipping package. 2. As a PTP Slave device, our LiDAR only obtains the time sent by the PTP Master, and does not make accuracy judgments.
  • Page 22 RS-Bpearl User manual Figure 4-6 Time Stamp Note: box: Header ID； Yellow box: Year, month, day, hour, minute, second respectively; Green box: Millisecond; Blue box: Microsecond.

  • Page 23: Communication Protocols

    RS-Bpearl User manual 5. Communication Protocols The communication between RS-Bperl and computer is through Ethernet and by sending UDP packets. There are mainly three types of communication protocols, as shown in the table below: Table 5-1 Communication Protocols Protocol Abbreviation Function Type Packet Size...
  • Page 24 RS-Bpearl User manual Figure 5-1 RS-Bpearl_2.0 UDP Packet Structure Figure 5-2 RS-Bpearl_3.0 UDP Packet Structure...

  • Page 25: Main Data Stream Output Protocol（Msop

    RS-Bpearl User manual 5.2. Main Data Stream Output Protocol（MSOP） Main data Stream Output Protocol is abbreviated as MSOP I/O type: device output, computer analysis 5.2.1. Header Default port number: 6699 The header has 42 bytes and is used to identify the beginning of the UDP data packet. The structure of the Header is as shown in the table below: Among the 42 bytes of the UDP header of the RS-BPearl_2.0, the beginning 8 byts are for the header identification.
  • Page 26 RS-Bpearl User manual 0x06:RS-Helios Resv Reserved for future updates Temp Device temperature Top Temp Top board temperature Note: The defined time stamp is used for recording the system time, the resolution is 1us.

  • Page 27: Data Blocks

    RS-Bpearl User manual 5.2.2. Data Blocks As shown in the table below, the Data Blocks in the MSOP packet store the data measured by the sensor, and has a total of 1200 bytes. There are a total of 12 data blocks in one MSOP Packet. Each data block has 100 bytes and represents a complete measurement.
  • Page 28 RS-Bpearl User manual 5.2.2.1. Channel Data Each channel data has 3 bytes, the upper two bytes store distance information, and the lower one byte stores reflectivity information, as shown in the figure below. Table 5-4 Channel Data Channel data n （3 bytes） 2 bytes Distance 1 byte Reflectivity Distance1 [15:8]...

  • Page 29: Tail

    RS-Bpearl User manual 1. Calculate distance based on distance data in the data packet: 1）Find the distance value in the data packet and convert to a hexadecimal number: 0x02, 0x76 2）Convert to a 16-bit unsigned integer: 0x0276 3）Convert to a decimal number: 630 Divide by 100 to obtain the actual value: 6.30 4）Calculate according to the distances resolution 5）Result: 6.30*0.5 = 3.125m.
  • Page 30 RS-Bpearl User manual Table 5-5 RS-Bpearl_2.0 DIFOP Packet Structure Segments Information Registers Offset Length（byte） DIFOP header Header Motor speed Ethernet FOV setting Reserved Motor phase lock Top board firmware version Bottom board firmware version Reserved Serial number Data Zero angle offset Return mode Upper computer compatibility UTC time...
  • Page 31 RS-Bpearl User manual Reserved Tail Tail 1246 Table 5-6 RS-Bpearl_3.0 DIFOP Packet Structure Segments Information Registers Offset Length（byte） Header DIFOP header Motor speed Ethernet source IP Ethernet destination IP LiDAR MAC address MSOP port number Reserved DIFOP port mumber Reserved Data FOV start angle FOV end angle...
  • Page 32 RS-Bpearl User manual Reserved Reserved Reverse Zero angle offset Serial number Zero angle offset Return mode Time synchronization mode Synchronization status UTC Time Operating status Reserved Rotation direction flag Elapsed time flag Fault diagnosis GPRMC Corrected vertical angle Corrected horizontal angle Reserved Tail Tail...

  • Page 33: User Configuration Write Protocol

    RS-Bpearl User manual 5.4. User Configuration Write Protocol (UCWP） User Configuration Write Protocol is abbreviated as UCWP. I/O type: Computer writes into the device. Function: User can reconfigure Ethernet connection, time, motor and some other parameters of the LiDAR. Note: The UCWP is only available for the RS-Bpearl_2.0 sensors. The RS-Bpearl_3.0 uses the Web Interface to configure the sensor.
  • Page 34 RS-Bpearl User manual 90 degrees, according to the definition of the UCWP Packet and each registers, you can send UDP packets to LiDAR according to the following table. Table 5-8 Example Configuration of LiDAR through UCWP Information Registers Setting Configuration Length (byte）...
  • Page 35 RS-Bpearl User manual Minute:45 Second:30 0x03 Millisecond: 100 0x0A Microsecond: 200 0x09 0x2D 0x1E 0x00,0x64 0x00,0xC8 Motor Phase Lock 0x005A While configuring LiDAR according to this protocol, it is imperative to configure all the information registers in the table above. Configuring only part of it will lead to invalid configuration.

  • Page 36: Vertical Angles And Exact Point Time Calculation

    RS-Bpearl User manual 6. Vertical Angles and Exact Point Time Calculation 6.1. Channel Number and Vertical Angles The RS-Bpearl LiDAR comes with a total of 32 laser heads vertically allocated along the vertical field of view of 90 degrees with non-uniform angular resolution. Each laser head, also called a laser channel, is installed with a designated vertical angle;...
  • Page 37 RS-Bpearl User manual...

  • Page 38: Exact Point Time Calculation In Dual Return Mode

    RS-Bpearl User manual 6.2.2 Exact Point Time Calculation in Dual Return Mode In dual return mode, each MSOP Packet has 12 data blocks and each 2 data blocks store the dual return measurements of 1 firing sequences of 32 lasers, for example, Block 1 and Block 2 store the dual return measurements of 1 firing sequences of 32 lasers, where Block 1 stores the strongest return measurements, Block 2 stores the last return measurements.
  • Page 39 RS-Bpearl User manual Table 6-2 Time Offset of each Laser Point in the MSOP Packet in the Dual Return Mode...

  • Page 40: Trouble Shooting

    RS-Bpearl User manual 7. Trouble Shooting When using the RS-Bpearl, users may encounter some common problems, this chapter lists some common problems and the corresponding solutions. Problem Solution Check whether the input power connection and polarity are normal.  The red LED indicator in the Interface Box is off ...
  • Page 41 RS-Bpearl User manual LiDAR. Make sure that the Data Port setting on RSVIEW is correct.  Make sure that the RSVIEW installation directory or configuration file  storage directory only contain English characters. Make sure that the data packets received by wireshark are MSOP ...

  • Page 42: Appendix A Web Interface

    RS-Bpearl User manual Appendix A Web Interface The parameter setting of the RS-Bpearl_2.0 can only be done through RSVIEW, please refer to Appendix C for detailed instructions. While the parameter setting, operation status-check and firmware upgrade of the RS-Bpearl_3.0 can only be done through the Web Interface. The address of the Web Interface of the RS-Bpearl changes with the LiDAR IP.

  • Page 43: Device Parameter Setting Screen

    RS-Bpearl User manual A.2 Device Parameter Setting Screen Click the Setting button on the Web Interface, you will open the “Setting” screen, where you will find settings for Device IP, port number, return mode, rotation speed, etc. Definition of the functionality and features are as shown in the figure below: Figure A-2 -1 Setting LiDAR Parameters at the Web Interface 1.

  • Page 44: Device Diagnostics/Operation Status Screen

    RS-Bpearl User manual modification takes effect. A.3 Device Diagnostics/Operation Status Screen Click the Diagnostic button on the front page of the Web Interface, you will see the Diagnostic Screen, where you can learn the operating status of the LiDAR in real time, including the input voltage, current, rotating speed, operating time, and temperature, etc.

  • Page 45: Device/System Update Screen

    RS-Bpearl User manual Note: 1. The diagnostic screen is refreshed every second. 2. If the voltage/current box turns red, please check whether the LiDAR is currently in Standby mode, if not, check whether the LiDAR is working normally; 3. After the LiDAR is circle powered again, within 10 minutes of operation, the number of start-up times is refreshed every 1 minute;...
  • Page 46 RS-Bpearl User manual Select the Right Firmware Figure A-5 3. When the new firmware is successfully uploaded, the file name of the firmware will appear in the box behind the Top Board Firmware Update, click Update to initiate the update process. Figure A-6 Click Update 4.
  • Page 47 RS-Bpearl User manual Update Successful Figure A-7...

  • Page 48: Appendix B Information Registers

    RS-Bpearl User manual Appendix B Information Registers Here are definitions and more details on the information registers as mentioned in Section 5. B.1 Motor Speed (MOT_SPD) MOT_SPD (2 bytes in total) Byte No. byte1 byte2 Function MOT_SPD Register description: (1) This register is used to configure the motor rotation direction and motor speed; (2) The data storage adopts the big-endian format.

  • Page 49: Fov Setting(Fov_Set)

    RS-Bpearl User manual (3) MAC_ADDR is the LiDAR MAC address. (4) port1 to port4 are port number information. port1 is the port for LiDAR to output MSOP packets and port2 is the port for destination PC to receive MSOP packets. port3 is the port for LiDAR to output DIFOP packets and port4 is the port for destination PC to receive DIFOP packets.

  • Page 50: Bottom Board Firmware Version(Bot_Frm)

    RS-Bpearl User manual Byte No. byte1 byte2 Function MOT_PHASE Register description: This register can be used together with the PPS pulse of GPS to adjust the phase offset of the motor at the top of seconds. The value can be set from 0 to 360 corresponding 0 to 360°. The data storage adopts the big endian ordering.

  • Page 51: Software Version(Sof_Frm)

    RS-Bpearl User manual For RS-Bpearl_2.0: Bottom board firmware file version: B7R14V4_T1_F Top board firmware version displayed in DIFOP packets: 07 14 04 01 F0 The mark "_A" in the version number means that the firmware is for Application purpose, and "_F"...

  • Page 52: Utc Time(Utc_Time)

    RS-Bpearl User manual Byte No. byte1 byte2 Function Timestamp_setting Timestamp_State Register description: （1）byte1: Time synchronization mode 00：GPS 01：E2E 02：P2P 03：gptp byte2: Time synchronization status 00：Time synchronization invalid 01：GPS Time synchronization successful 02：PTP Time synchronization successful B.10 UTC Time(UTC_TIME) UTC_TIME (10 bytes in total) Byte No.
  • Page 53 RS-Bpearl User manual month reg name：set_month Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved Reserved Reserved set_month[3:0]：1~12 month reg name：set_day Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved Reserved set_day[4:0]：1~31 day hour reg name：set_hour Byte No.

  • Page 54: Operation Status(Status)

    RS-Bpearl User manual Function Reserved Reserved set_sec[5:0]：0~59 sec reg name：set_ms Byte No. bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function Reserved Reserved Reserved Reserved Reserved Reserved ms[9:8] Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_ms[7:0] Note: set_ms[9:0], value range: 0~999 reg name：set_us Byte No.

  • Page 55: Operation Status (Valid For Rs-Bpearl 3.0)

    RS-Bpearl User manual Function Vdat_12V_M_reg Vdat_5V_reg Vdat_3V3_reg Vdat_2V5_reg Byte No. 17byte 18byte Function Vdat_1V2_reg Register description: (1) Idat, including 2 current values, where Idat1 is the sensor power supply current, and Idat2 is the top board power supply current. Idat_reg contains 3 bytes to be Idat_reg[23:0]. The highest bit Idat_reg[23] is the sign flag bit, Idat_reg[23] = 1 means a negative value, and Idat_reg[23] = 0 means a positive value.

  • Page 56: Fault Diagnosis (Falt_Digs)

    RS-Bpearl User manual Function Vdat_12V__reg Vdat_5V_reg Vdat_1V25_reg Vdat_0V_reg Byte No. 17byte 18byte Function Vdat_1V_reg Note: [Value] is the decimal value obtained by converting the corresponding offset byte, using big-endian mode, with the high order first and the low order last. Register description: Vdat, including 6 voltage values, each Vdat_reg contains 2 bytes.
  • Page 57 RS-Bpearl User manual internal debug Function temperature 5 r_rpm1 Byte No. byte33 byte34 byte35 byte36 byte37 byte38 byte39 byte40 internal debug Function r_rpm2 Register description: (1) The cksum_st of byte11 in the table shows the error status in reading the checksum of the temperature drift compensation value of the EEPROM.

  • Page 58: Fault Diagnosis(Valid For Rs-Bpearl 3.0)

    RS-Bpearl User manual GPS input status register GPS_ST Function Value Status PPS is invalid bit0 PPS_LOCK PPS is valid GPRMC is invalid bit1 GPRMC_LOCK GPRMC is valid LiDAR internal timestamp is not synchronizing the UTC. bit2 UTC_LOCK LiDAR internal timestamp is synchronizing the UTC. bit3~bit7 Reserved (1) The real-time rotation speed of the motor is composed of two bytes, byte32 and byte33.
  • Page 59 RS-Bpearl User manual Function r_rpm2 Reserved Note: [Value] is the decimal value obtained by converting the corresponding offset byte, using big-endian mode, with the high order first and the low order last. Register description: (1) manc_err1 and manc_err2 are used to calculate the error of data communication transmission, manc_err1 is used to calculate the count of 1bit errors, and manc_err2 is used to calculate the count of more than 1bit errors.

  • Page 60: Ascii Code In Gprmc Packet

    RS-Bpearl User manual PPS lock valid GPRMC_LOCK GPRMC lock invalid bit1 GPRMC lock valid LiDAR internal timestamp is not synchronizing the UTC. UTC_LOCK bit2 LiDAR internal timestamp is synchronizing the UTC. No GPRMC input GPRMC input bit3 status with GPRMC input No PPS input bit4 PPS input status...
  • Page 61 RS-Bpearl User manual Byte No. byte28 byte29 byte30 byte31 byte32 byte33 byte34 byte35 byte36 Function Channel 10_COR_VERT_ANG Channel 11_COR_VERT_ANG Channel 12_COR_VERT_ANG Byte No. byte37 byte38 byte39 byte40 byte41 byte42 byte43 byte44 byte45 Function Channel 13_COR_VERT_ANG Channel 14_COR_VERT_ANG Channel 15_COR_VERT_ANG Byte No. byte46 byte47 byte48...

  • Page 62: Corrected Horizontal Angle(Cor_Hor_Ang)

    RS-Bpearl User manual B.15 Corrected Horizontal Angle(COR_HOR_ANG) COR_HOR_ANG (48 bytes in total) 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 byte13 byte14 byte15 byte16 byte17 byte18 Function Channel 4_COR_HOR_ANG...
  • Page 63 RS-Bpearl User manual Byte No. byte91 byte92 byte93 byte94 byte95 byte96 Function Channel 31_COR_HOR_ANG Channel 32_COR_HOR_ANG Register description: (1) The angle value is divided into positive and negative values. The horizontal angle of each channel consists of 3 bytes, of which the first byte represents positive or negative of the value, and the second and third bytes represents the value of the angle, which is stored in big-endian mode.

  • Page 64: Appendix C Rsview

    RoboSense website (https://www.robosense.ai/resources). The downloaded compressed file is an installation-free version, and you can start using it directly by decompressing it. Make sure the decompressing path only contains English characters. C.3 Set Up Network As mentioned in Section 3, the LiDAR has a factory default IP address to be sent to computer.

  • Page 65: Visualize Streaming Sensor Data

    RS-Bpearl User manual C.4 Visualize Streaming Sensor Data 1. Connect RS-Helios to power and connect to computer by network cable. 2. Right Click to start the RSView application with Run As Administrator. 3. Click on File > Open and select Sensor Stream (Figure C-1). Figure C-1 RSView Open Sensor Stream 4.

  • Page 66: Capture Streaming Sensor Data To Pcap File

    RS-Bpearl User manual Figure C-3 MSOP and DIFOP Port Number Setting 6. RSView begins displaying the sensor data stream (Figure C-4). The stream can be paused by pressing the Play button, pressing again, the stream resumes. Figure C-4 Sensor Stream Data Display in RSView C.5 Capture Streaming Sensor Data to PCAP File 1.

  • Page 67: Replay Captured Sensor Data From Pcap File

    RS-Bpearl User manual 2. In the “Choose Output File” dialog that pops up, set the save path and file name, and then click the Save (S) button (Figure C-6). RSView will start to write the packet file into the target pcap file.
  • Page 68 RS-Bpearl User manual Figure C-8 Open Recorded pacp File 3. In the pop-up “Sensor Configuration” dialog, add and select the correct RS-Bpear configuration file and click the OK button. 4. Click the Play button to play or pause the data. Use the Scrub sliding tool to slide back and forth to select frames at different positions in the data.
  • Page 69 RS-Bpearl User manual Figure C-11 RSView Spreadsheet Display 7. Click Show only selected elements in Spreadsheet to get the data corresponding to the selected points (Figure C-12). If you didn’t select any elements, there will be no contents in the Spresdsheet.

  • Page 70: Configure Lidar Parameters With Rsview

    RS-Bpearl User manual Figure C-14 RSView List Selected Points 10. Any selected points can be saved via Spreadsheet>Show only selected elements>Output CSV data. C.7 Configure LiDAR Parameters with RSView Only the RS-Bpearl_2.0 LiDAR sensors can be configured by RSView, for the RS-Beparl_3.0, the sensor configuration is done through the Web Interface (Please refer to Appendix A for details).
  • Page 71 RS-Bpearl User manual FigureC-15 RS-LiDAR Information We can modify the parameters we want to set in the window (the red boxes are just examples), and then click Set LiDAR. After a prompt indicating “modification successful” appears, check the RS-LiDAR Information by clicking the Get button again to verify whether the parameters have been modified successfully.

  • Page 72: Online Firmware Update With Rsview

    RS-Bpearl User manual click the Get button. 2. During the parameter setting process, make sure not to power off the LiDAR, otherwise the modified parameters may not be saved successfully. 3. If the MSOP Port or DIFOP Port parameters set by the RS-Bpearl factory firmware are modified, you need to configure the RSView Data Port according to Section C4.5 when reconnecting the LiDAR.

  • Page 73: Fault Diagnosis With Rsview

    RS-Bpearl User manual Figure C-18 Select the Firmware File for the Update Figure C-19 Online update successful reminder C.10 Fault Diagnosis with RSView Fault Diagnosis with RSView is only available for the RS-Bpearl_2.0 LiDAR sensors. Fault Diagnosis for the RS-Bpearl_3.0 LiDAR sensors can only be done with the Web Interface. (Please refer to Appendix A for details.) To perform fault diagnosis with RSView, it is necessary to first make sure that the RS-Bpearl sensor is normally connected and can display point cloud data and obtain factory firmware...
  • Page 74 RS-Bpearl User manual Figure C-20 Fault Diagnosis...

  • Page 75: Appendix D Rs-Bpearl Ros&Ros2 Package

    After downloading, please read the README file in the driver package carefully, which describes in detail how to compile and use the LiDAR driver package. rslidar_sdk is our latest LiDAR driver package, which has included drivers for all RoboSense LiDAR sensors. Three compilation modes are supported: 1.

  • Page 76: Configure Pc Ip

    RS-Bpearl User manual Run the following command in the terminal to compile: cd ~/catkin_ws catkin_make 3. Compilation in ROS2 Create ros2 working directory: cd ~ mkdir -p catkin_ws/src Copy the rslidar_sdk driver package to the ROS2 working directory ~/catkin_ws/src. Open the CMakeLists.txt file in the rslidar_sdk driver package, and change set(COMPILE_METHOD ORIGINAL) at the top of the file to set(COMPILE_METHOD COLCON).

  • Page 77: View Offline Data

    RS-Bpearl User manual Figure D-1 rviz rviz displays RS-Bpearl point cloud data D.5 View Offline Data About how to parse data offline (rosbag or pcap), there is also a detailed introduction in the documentation in the rslidar_sdk driver package. Here is just a brief introduction, taking pcap as an example.
  • Page 78 1. Modify the parameters in rslidar_sdk/config/config.yaml msg_source: modified to 3 pcap_path: configure to the absolute path of the pcap file: (e.g. /home/robosense/RS_Bpearl.pcap) Make sure there is a one-to-one correspondence between MSOP and DIFOP port numbers and offline packets 2. Open the terminal and run the node program: cd ~/catkin_ws source devel/setup.bash...

  • Page 79: Appendix E Mechanical Drawings

    RS-Bpearl User manual Appendix E Mechanical Drawings...

  • Page 80: Appendix F Sensor Mounting

    RS-Bpearl User manual Appendix F Sensor Mounting Make sure the following requirements are met when mounting the LiDAR: The mounting surface of the LiDAR should be flat and uneven surfaces should be avoided. The precise locator pins on the mounting base should strictly follow the dimensions of the locator holes at the bottom of the LiDAR, and the height of the locator pin should not be higher than 4mm.

  • Page 81: Appendix G Obtain Msop And Difop Port Number From Data Packets

    RS-Bpearl User manual Appendix G Obtain MSOP and DIFOP Port Number from Data Packets According to the description in Chapter 5, RS-Bpearl will output two types of packets, MSOP and DIFOP packets. Users can use the wireshark tool to filter the packet content to distinguish the output ports of MSOP and DIFOP packets, which can be used when setting the Data Port in RSView.

  • Page 82: Appemdix H Sensor Cleaning

    RS-Bpearl User manual Appemdix H Sensor Cleaning H.1 Attention Please read the contents of this appendix H carefully and completely before cleaning your RS-Bpearl LiDAR, otherwise improper operation may damage the LiDAR. When the LiDAR is used in a harsh environment, it is necessary to clean up the dirt on the surface in time to keep the LiDAR clean, otherwise it will affect the normal use of the LiDAR H.2 Required Materials 1.
  • Page 83 RS-Bpearl User manual...

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