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RoboSense RS-Helios-1610 User Manual

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RS-Helios-1610 User Manual
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Summary of Contents for RoboSense RS-Helios-1610

  • Page 1 RS-Helios-1610 User Manual RS-Helios-1610...
  • Page 2 RS-Helios-1610 User Manual Revision History Issue Modifications Release Date Edited by 1.0.0 Original issue 2022-08-31...
  • Page 3 RS-Helios-1610 User Manual Terminologies MSOP Main data Stream Output Protocol DIFOP Device Info Output Protocol Field Of View Precision Time Protocol Network Time Protocol Global Positioning System Universal Time Coordinated Wave_mode Echo flag Protocol version number, 00 represents old version, 01 represents the latest...

  • Page 4: Table Of Contents

    RS-Helios-1610 User Manual Content 1 Safety Notices ................................1 2 Helios Series Products .............................. 2 3 Product Appearance and Interface........................3 3.1 Product Appearance ............................ 3 3.2 Aviation Plug and Pin Definition ......................3 3.3 Interface Box ..............................4 4.1 Standard Package ............................6 4 Unboxing &...
  • Page 5 C.6 Replay PCAP File ............................45 C.7 Set RSView Data Port ..........................48 Appendix D RS-Helios ROS&ROS2 Package ......................49 D.2 Download & Compile RoboSense LiDAR Driver Package ............. 49 D.1 Install Software............................49 D.3 Configure PC IP ............................50 D.4 Real Time Display............................50 Appendix E Mechanical Drawings .........................
  • 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: Helios Series Products

    RS-Helios-1610 User Manual 2 Helios Series Products Model Number of Channels Remark RS-Helios-5515 -55°~+15° Wide FOV RS-Helios-1615 -16°~+15° Uniform 1° Vertical Resolution RS-Helios-1610 -16°~+10° up to 0.5° RS-Helios-16P -15°~+15° Uniform 2° Vertical Resolution This manual is for the RS-Helios-1610 product.

  • Page 9: Product Appearance And Interface

    Figure 1 LiDAR Coordinate and Rotation Direction 3.2 Aviation Plug and Pin Definition RS-Helios-1610 has an aviation plug attached to the bottom of the LiDAR, the definitions of the specific pins of the aviation plug are as shown in the table below:...

  • Page 10: Interface Box

    Figure 2 Definition of Pins of Aviation Plug 3.3 Interface Box Your RS-Helios-1610 comes with an Interface Box, which has 2 LED lights and provides convenient connections to power, 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).
  • Page 11 The network interface on the Interface Box follows the EIA/TIA568 standard. 3.3.3 GPS Time Synchronization RS-Helios-1610 uses GPS for Time Synchronization: the GPS REC receives GPS UART standard input; GPS PULSE receives GPS PPS information input. The definitions of pins of the GPS port are detailed in the figure below: Table 2 GPS Port Definition Pin No.

  • Page 12: Unboxing & Installation

    RS-Helios-1610 User Manual 4 Unboxing & Installation 4.1 Standard Package The table below lists the contents of a standard RS-Helios-1610 package from the factory. Table 3 Standard Factory Package of the RS-Helios-1610 Contents SPEC/QTY LiDAR RS-Helios-1610*1 Interface Box 3M *1 Power Adapter DC12Vx3.34A/40W *1...
  • Page 13 RS-Helios-1610 User Manual black zinc, grade 10.9, with drop resistance coating. GB/T70.1, M3x8, hexagon socket head, material SCM435, electroplated trivalent chromium black zinc, grade 10.9, with drop resistance coating. Mounting Requirements  The mounting surface should be as flat as possible with the flatness be better than 0.05mm;...

  • Page 14: Quick Connection

    4.3 Quick Connection Users are allowed to configure the network settings of the RS-Helios-1610, which is set at the factory with default IP and port numbers, as shown in the table below: Table 4 Factory Default Network Configuration IP Address MSOP Port No.
  • Page 15 RS-Helios-1610 User Manual The wiring diagram of the Interface Box connection is as shown in the figure below: Interface Box Figure 6 Interface Box Connection...

  • Page 16: 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. The ranging accuracy takes a 50% NIST diffuse reflector as the target. The test results may be affected by environment conditions, including but not limited to factors such as ambient temperature and target distance.
  • Page 17 RS-Helios-1610 User Manual -40℃ to +85℃ Weight 0.99kg(LiDAR body) Storage Temperature Time Synchronization $GPRMC with 1PPS，PTP&gPTP Sensor Protection IP67 Table 5 Ranging Capability of LiDAR Channel Channel No. Vertical Angle（°） 10% NIST（m） Range（m） 10° 7° 5° 3.5° 3° 2.5° 2°...

  • Page 18: Point Cloud Display

    Cartesian Coordinate System. Note 1: ROS source code of RS-Helios-1610 has by default completed the coordinate conversion to conform to the right-handed coordinate system of ROS. The X-axis of ROS is the positive Y direction in Figure 1, and the Y-axis of ROS is the negative X direction in Figure 1.

  • Page 19: Laser Return Modes

    RS-Helios-1610 analyzes the received multiple returns, and can be set to only report the strongest return, first return or the last return each time in the single return mode, or report the strongest and last return, the strongest and first return, or the first and the last return at the same time in dual return mode, depending on the laser return mode settings.

  • Page 20: Return Mode Flag

    5.4.2 Return Mode Flag The RS-Helios-1610 is set in the Strongest Return mode at factory by default. If you need to change this settings, please refer to Appendix A.2 of this user manual for instructions. The 300th byte in a DIFOP packet is the flag of return mode, which corresponds to the following:...

  • Page 21: Time Synchronization

    Receive the positive synchronization pulse RS232 output by the GPS module signal output by the GPS module, the level is required to be 3.0V~15.0V Note 1: The GPS_REC interface in the RS-Helios-1610 Interface Box is the SH1.0-6P female connector, and the pin...

  • Page 22: Ptp Time Synchronization

    3. The length of GPRMC messages sent by existing GPS modules on the market is not consistent. The length of GPRMC messages reserved in the DIFOP packet of RS-Helios-1610 is up to 86 bytes, which is compatible with the GPRMC message format sent by most GPS modules on the market.

  • Page 23: Ptp Wiring Method

    LiDAR's internal clock, and it will be reset after the LiDAR is powered off and restarted. 6 Communication Protocol The communication between RS-Helios-1610 and computer is through Ethernet and by sending UDP packets. There are mainly two types of communication protocols, as shown in the following table:...

  • Page 24: Main Data Stream Output Protocol（Msop

    LiDAR to the computer; 6.1 MSOP and DIFOP The UDP packet sent by RS-Helios-1610 has a payload of 1248 bytes, the data structure of the main data stream output protocol (MSOP) and device information output protocol (DIFOP) is as...

  • Page 25: Data Blocks

    RS-Helios-1610 User Manual Table 9 MSOP Header Header (42 bytes) Field Offset Length (byte） Description Header ID 55_aa_05_5a Protocol Version 00_01 Resv 4 Bytes in total, form a sequence with a Top Board Sending Packet Count increment of 3 Bottom Board Sending Packet Count...
  • Page 26 RS-Helios-1610 User Manual Table 10 Data Blocks Definitions Data Block (1200 bytes) Data Block 1 Data Block 2 Data Block 3 Data Block n Data Block 12 0xff,0xee 0xff,0xee 0xff,0xee 0xff,0xee 0xff,0xee Azimuth 1 Azimuth 2 Azimuth 3 Azimuth n...

  • Page 27: Tail

    RS-Helios-1610 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: 0x01 ,0x40 2) Convert a 16bit unsigned integer: 0x0140 3) Convert to a decimal number: 320 4) Calculate according to the distances resolution 5) Result: 320*0.25 = 8m...

  • Page 28: Device Info Output Protocol（Difop

    RS-Helios-1610 User Manual 6.3 Device Info Output Protocol（DIFOP） Device Info Output Protocol is abbreviated as DIFOP I/O type: device output, computer read. Default port number: 7788. DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware...
  • Page 29 RS-Helios-1610 User Manual Web page cgi backup CRC Ethernet gateway Subnet mask Reserved Serial number Zero angle offset Return mode Time Synchronization Mode Synchronization status Time Operating status Reserved Fault diagnosis Whether the code wheel is calibrated GPS PPS pulse trigger mode...

  • Page 30: Vertical Angles And Precision Point Timing Calculation

    7 Vertical Angles and Precision Point Timing Calculation 7.1 Channel Number and Vertical Angle RS-Helios-1610 has a vertical field of view from -16°to +15°. The minimal angular resolution is 1°. The 32 laser heads are also called 32 channels. The laser channels and their designated vertical angles are as shown below.
  • Page 31 RS-Helios-1610 User Manual Table 13 MSOP Packet Time Offset of Exact Laser Point Timing in Single Return Mode Table 14 MSOP Packet Time Offset of Exact Laser Point Timing in Dual Return Mode...

  • Page 32: Troubleshooting

    RS-Helios-1610 User Manual 8 Troubleshooting When using the sensor, users may encounter some common problems, this chapter lists some common problems and the corresponding solutions. Problem Solution The red LED indicator in the Check whether the input power connection and polarity are normal.
  • Page 33 RS-Helios-1610 User Manual Remove all other network devices and directly connect sensor to the  computer to test whether there is packet loss. Make sure that the synchronization mode has been switched to the  correct mode on the web page Make sure that the GPS baud rate is 9600bps and serial port set to 8N ...

  • Page 34: Appendix A Web Interface

    The RS-Helios-1610 web address changes with the LiDAR IP. The factory default LiDAR IP is 192.168.1.200. If the user has changed the LiDAR IP, the web address will be changed to the newly set IP address.
  • Page 35 RS-Helios-1610 User Manual Figure a-2.1 General Setting Page of the LiDAR Web Interface 1. Communication of LiDAR supports both unicast (default) and broadcast modes. Destination IP address 255.255.255.255 indicates broadcast mode. The default factory setting of the LiDAR IP is 192.168.1.102...
  • Page 36 SYNC angle pulse trigger settings are activated for setting. The Group Switch is by default checked "All Off"; 4. Group: Referring to SYNC OUT group. The RS-Helios-1610 integrated sensor cable has reserved the SYNC_OUT1 pin and the SYNC_OUT2 pin, but the Interface Box has reserved only the SYNC_OUT1 pin.

  • Page 37: Diagnostic Screen

    RS-Helios-1610 User Manual won’t be successful; 2. The MSOP and DIFOP port number can be set from 1025 to 65535, and the MSOP port and DIFOP port cannot be set to the same port; 3. After every modification of the settings, you will need to click the “Save” button, if the system prompts “setting is successful”, the new settings will take effect.

  • Page 38: System Screen

    RS-Helios-1610 User Manual whether the LiDAR is working normally; 3. The number of start-up times is refreshed after 1 minute after the LiDAR is circle powered again, and the operating time is refreshed every 1 minute. A.4 System Screen Click the System button on the front page of the Web Interface, you will see the System Screen, where you can update the top board firmware, bottom board firmware, software, web and motor firmware.
  • Page 39 RS-Helios-1610 User Manual Figure A-6 Click Update 3. After the Update process completes, the Web Interface will prompt Update Successful, and the LiDAR will automatically restart, after the sensor is restarted, load the Web Interface again to check if the firmware update is successful.

  • Page 40: Appendix B Information Registers

    RS-Helios-1610 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;...

  • Page 41: Fov Setting（Fov_Set

    RS-Helios-1610 User Manual B.3 FOV Setting（FOV_SET） FOV_SET (4 bytes in total) Byte No. byte1 byte2 byte3 byte4 Function FOV_START FOV_END Register Description: Set the azimuth range that the sensor can output valid data, the values of FOV_START and FOV_END could be any integer between 0 to 36000, corresponding 0~360°, the data storage adopts the big endian ordering.

  • Page 42: Bottom Board Firmware Version(Bot_Frm)

    RS-Helios-1610 User Manual Segmentation of value: 0x0001060500 Top board firmware version: 01060500 B.6 Bottom Board Firmware Version(BOT_FRM) BOT_FRM(5bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 Function BOT_FRM Register description： This register corresponds to the top board firmware version:...

  • Page 43: Corrected Vertical Angle(Cor_Vert_Ang)

    RS-Helios-1610 User Manual B.9 Corrected Vertical Angle(COR_VERT_ANG) COR_VERT_ANG(96bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 vertical angle Channel 2 vertical angle Channel 3 vertical angle Byte No. byte10 byte11 byte12 byte13...

  • Page 44: Corrected Horizontal Angle

    RS-Helios-1610 User Manual angle; (3) The angle resolution: LBS=0.01; (4) For example, the register value of channel 1: byte1=0x00, byte2=0x05(converted to decimal is 5), byte3=0xd6(converted to decimal is 214), then the vertical angle of channel 1 is: (5*256+ 214) * 0.01=14.95°.

  • Page 45: Serial Number

    RS-Helios-1610 User Manual Register description: (1) The channel horizontal angle value is composed of 3 bytes, among which the 1 byte is used to indicate positive/negative angle, the 2 and 3 bytes indicate angle value. The data storage adopts big-endian format;...

  • Page 46: Status（Status

    RS-Helios-1610 User Manual B.14 STATUS（STATUS） STATUS (18 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function Idat1_reg Vdat Vdat_12V_reg Vdat_5V_reg Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function Vdat_2V5_reg Vdat_APD Internal debug Byte No.
  • Page 47 RS-Helios-1610 User Manual Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function temperature 5 r_rpm lane_up lane_up_cnt Top_Status Byte No. byte17 byte18 byte19 byte20 byte21 byte22 byte23 byte24 Function Top_Status GPS_Status Internal debug Byte No. byte25 byte26 byte27...

  • Page 48: Gprmc Data Packet-Ascii Code Data Type

    RS-Helios-1610 User Manual Status with input No input Bit4 PPS Input Status with input bit5~bit7 Reserved (3) The real-time speed of the motor is composed of byte32 and byte33. The calculation formula is as follows: Motor real-time speed = value For example, when byte32 = 0x58, byte33 = 0x02, r_rpm=0x0258=600rpm.

  • Page 49: Appendix C Rsview

    This appendix gets you started with RSView. It shows you how to use the application to acquire, visualize, save, and replay your RS-Helios-1610 data. You can also use other free tools, such as Wireshark or tcp-dump. But RSView is free and relatively easy to use. The version used here is RSView3.1.7.

  • Page 50: Set Up Network

    RS-Helios-1610 User Manual C.3 Set Up Network As mentioned in Section 2, the LiDAR has a factory default IP address to be sent to computer. Therefore, by default, the static IP address of the computer needs to be set to 192.168.1.102, and the subnet mask needs to be set to 255.255.255.0.

  • Page 51: Capture Streaming Sensor Data To Pcap File

    RS-Helios-1610 User Manual Figure C-3 Sensor Stream Data Display in RSView C.5 Capture Streaming Sensor Data to PCAP File 1. Click the Record button when streaming (Figure C-4). Figure C-4 R RSView Record Button. 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-5).
  • Page 52 RS-Helios-1610 User Manual Play button to play or select frames in the data that you are interested in. You can also use the mouse to select a portion of 3D point cloud which the details will then be tabulated in a spreadsheet for analysis.
  • Page 53 RS-Helios-1610 User Manual Figure C-9 RSView Spreadsheet Tool. 6. You can adjust the width of each column of the table, or sort to get a better view. Figure C-10 RSView Spreadsheet Display 7. Click Show only selected elements in Spreadsheet to get the data corresponding to the selected points (Figure C-11).

  • Page 54: Set Rsview Data Port

    RS-Helios-1610 User Manual Figure C-13 RSView List Selected Points Tool 10. Any selected points can be saved via Spreadsheet>Show only selected elements>Output CSV data. C.7 Set RSView Data Port The default MSOP port number of RS-Helios is 6699, and the default DIFOP port number is 7788.

  • Page 55: Appendix D Rs-Helios Ros&Ros2 Package

    D.2 Download & Compile RoboSense LiDAR Driver Package You can get the latest LiDAR driver package from https://github.com/RoboSense-LiDAR/rslidar_sdk , or contact our technical support to get it. 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.

  • Page 56: Configure Pc Ip

    RS-Helios-1610 User Manual 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 the set (COMPILE_METHOD ORIGINAL) at the top of the file to set (COMPILE_METHOD COLCON).

  • Page 57: View Offline Data

    RS-Helios-1610 User Manual Figure D-1 rviz displays RS-Helios 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 58: Appendix E Mechanical Drawings

    RS-Helios-1610 User Manual Appendix E Mechanical Drawings...

  • Page 59: Appendix F Sensor Cleaning

    RS-Helios-1610 User Manual Appendix F Sensor Cleaning In order to be able to accurately sense the surrounding environment, LiDAR needs to be kept clean, especially the optical ring lens. F.1 Attention Please read the contents of this appendix F carefully and completely before cleaning your LiDAR, otherwise improper operation may damage the sensor.
  • Page 60 RS-Helios-1610 User Manual...

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