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RoboSense LiDAR RS-Ruby Plus User Manual

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  • Page 1 RS-Ruby Plus User Manual User Manual...
  • Page 2 RS-Ruby Plus User Manual Issue Modifications Release Date Edite d by 1.0.0 Original issue 2022-04-08 1.Updated performance parameters； 2.Added Appendix F correspondence table of channel ranging ability 3.Corrected the calculation formula for Current, 1.0.1 2022-6-29 Voltage and Temperature 4.Added the introduction of high performance mode 5.Added description of motor rotation direction 1.Corrected current calculation formula...
  • Page 3 RS-Ruby Plus 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 Protocol version number, 01 represents old version, 02 represents the latest Protocol version Wave_mode...

  • Page 4: Table Of Contents

    RS-Ruby Plus User Manual Content 1 Safety Notices ................................1 2 Product Appearance and Interface........................2 2.1 Product Appearance ............................ 2 2.2 Aviation Plug and Pin Definition ......................2 2.2.2 RJ45 Ethernet Port .......................... 5 2.2.1 Power..............................4 2.2.3 I/O definition ............................ 5 3.1 Optional accessories ............................6 3 Unboxing &...
  • Page 5 C.5 Capture Streaming Sensor Data to PCAP File ...................44 C.6 Replay PCAP File ............................45 Appendix D RS-Ruby Plus ROS&ROS2 Package ....................48 D.2 Download & Compile RoboSense LiDAR Driver Package ............. 48 D.1 Install Software............................48 D.3 Configure PC IP ............................49 D.4 Real Time Display............................49...
  • 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-Ruby Plus User Manual 2 Product Appearance and Interface 2.1 Product Appearance Aviation plug interface side Figure 2-1 LiDAR Coordinate and Rotation Direction 2.2 Aviation Plug and Pin Definition RS-Ruby Plus has two aviation plugs attached to the bottom of the LiDAR, the definitions of the specific pins of the aviation plug are as shown in the table below: Figure 2-2 4 pin Airline Table 2-1 4 Definition of pin Airline...
  • Page 9 RS-Ruby Plus comes with an Interface Box, which has 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 10: Power

    RS-Ruby Plus User Manual Figure 2-4 Interface Box Schematic Table 2-3 Definition of PWR Color Definition Black Black Blue Power Table 2-4 Definition of I/O Color Definition Blue Orange SYNC_OUT_1 Purple GPS_PPS Orange and White SYNC_OUT_2 Purple and White GPRMC Brown SYNC_OUT_3 Red and White...

  • Page 11: Rj45 Ethernet Port

    RS-Ruby Plus User Manual the green LED lights up, please check if the power input is normal when the green LED lights off. If the power input is normal, the Interface BOX may be damaged. Please contact our technical support & sales. 2.2.2 RJ45 Ethernet Port The RS-Ruby Plus only supports the T1 car Ethernet.

  • Page 12: Unboxing & Installation

    RS-Ruby Plus User Manual 3 Unboxing & Installation 3.1 Optional accessories RS-Ruby Plus package does not include accessories by default and requires additional purchase; The table below lists the optional accessoriesof RS-Ruby Plus from the factory. Table 3-1 Optional Accessories of the RS-Ruby Plus Contents SPEC/QTY Interface Box...

  • Page 13: Quick Connection

    RS-Ruby Plus User Manual Figure 3-1 LiDAR Mounting Details The following situations should be avoided when mounting the LiDAR: 1）If there are contact mounting surfaces on the top and bottom of the LiDAR, please ensure that the distance between the mounting surfaces is greater than the height of the LiDAR to avoid squeezing the LiDAR.

  • Page 14: Sensor Specifications And Features

    RS-Ruby Plus User Manual 4 Sensor Specifications and Features 4.1 Sensor Specification 4.1.1 Parameters Table 4-1 Sensor Parameters Sensor Laser Channels FOV(Horizontal) 360° Laser Wavelength 905nm FOV(Vertical) ﹢15° ~ -25°（40°in total） Laser Emission Angle Horizontal:2.0mrad Angular Resolution 0.2°/ 0.4°（Balance Mode） (Full Angel) Vertical: 1.7mrad (Horizontal)

  • Page 15: Point Cloud Display

    RS-Ruby Plus User Manual 4.2 Point Cloud Display 4.2.1 Coordinate Mapping Since the data packet output by the LiDAR only provides the horizontal rotation angle and distance parameters, 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: Laser Return Modes

    RS-Ruby Plus User Manual Diffuse Reflectors White, reflective diffuse reflector Black, absorbent diffuse reflector Reflectivity <100 Reflectivity ≈0 Retro-Reflectors Retro-reflector covered with- Retro-reflector without any coverage Semi transparent white surface Reflectibity≈255 Reflectivity>100 Figure 4-1 Definition of Reflectivity 4.4 Laser Return Modes 4.4.1 Principle of Laser Return Modes RS-Ruby Plus supports multiple laser return modes, namely: Strongest, Last, First, and Dual.

  • Page 17: Return Mode Flag

    RS-Ruby Plus User Manual Note： 1）The sensor records both returns only when the distance between two objects is 2meter or more. 2）When a laser pulse hits only one object, there is only the strongest return. 4.4.2 Return Mode Flag The RS-Ruby Plus is set in the Strongest Return mode at factory by default. If you need to change this settings, please refer to Appendix A of this user manual for instructions.

  • Page 18: Time Synchronization

    RS-Ruby Plus User Manual 4.6 Time Synchronization RS-Ruby Plus supports GPS+PPS and PTP time synchronization methods.Users can use the RS-Ruby Plus Web Interface to set. (Please refer to Appendix A.2) RS-Ruby Plus can be connected to an external GPS module and can synchronize the sensor system time with the time provided by the GPS.

  • Page 19: Ptp Time Synchronization

    The length of GPRMC messages reserved in the DIFOP packet of RS-Ruby Plus is up to 86 bytes, which is compatible with the GPRMC message format sent by most GPS modules on the market. If an incompatibility occurs, please contact RoboSense technical support. 4.6.3 PTP Time Synchronization...

  • Page 20: Time Calculation

    RS-Ruby Plus User Manual 1) Select PTP mode in the web interface (please see Appendix A.2 Web Interface configuration); 2) Prepare a PTP Master timing host (plug and play, no additional configuration required); 3) Ethernet switch; 4) Device supporting PTP protocol PTP Master（third party）...
  • Page 21 RS-Ruby Plus User Manual Figure 4-5 Timestamp schematic diagram Note： Box：Header ID Yellow Box： Second Bits Blue Box：Microsecond Bits The timestamps are divided into second bits and microsecond bits.The second bits shown in Figure 4-5 is  0x0000623d93e6 (1648202726); the microsecond bits is 0x00015ad5 (88789); The seconds part is a UTC timestamp, represents the second increment count from 0:00 on January 1, 1970 ...

  • Page 22: Communication Protocol

    RS-Ruby Plus User Manual 5 Communication Protocol The communication between RS-Ruby Plus and computer is through Ethernet and by sending UDP packets. There are mainly two types of communication protocols, as shown in the following table: Table 5-1 Communication Protocols Protocol Abbreviation Function...

  • Page 23: Main Data Stream Output Protocol（Msop

    RS-Ruby Plus 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 Default port number: 6699 5.2.1 Header The header has 80 bytes and is used to identify the beginning of the data packet. The structure of the Header is as shown in the table below: Table 5-2 MSOP Header Header (80 bytes)

  • Page 24: Data Blocks

    RS-Ruby Plus User Manual Table 5-3 Wave_mode and Ret_id correspondence table Wave_mode and Ret_id correspondence table Definition Wave_mode Ret_id Mode single return dual return 1,2；1,2… 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 1164 bytes.
  • Page 25 RS-Ruby Plus User Manual Figure 5-2 MSOP Packet Note: Box: Header ID; Orange Box: Data Block flag; Blue Box: Azimuth value of Channel data 1; Green Box: Distance value of Channel data 1. Black Box：Reflectivity of Channel data 1. 1. Calculate channel data in the data packet: 1）...

  • Page 26: Tail

    RS-Ruby Plus User Manual the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is 0.01 degrees. 5.2.3 Tail The Tail is 4 bytes in length, reserved for calibration. 5.3 Device Info Output Protocol（DIFOP） Device Info Output Protocol is abbreviated as DIFOP I/O type: device output, computer read.
  • Page 27 RS-Ruby Plus User Manual Reserved Ethernet gateway Subnet mask Reserved Serial number Zero angle offset Return mode Time Synchronization Mode Synchronization status Time Operating status positive angle and negative angle sign positions Total Sensor running time Fault diagnosis Number of starts Reserved GPS status temperature monitoring...

  • Page 28: Vertical Angles And Precision Point Timing Calculation

    RS-Ruby Plus User Manual 6 Vertical Angles and Precision Point Timing Calculation 6.1 Channel Number and Vertical Angle RS-Ruby Plus has a vertical field of view from -25°~+15°. The 128 laser heads are also called 128 channels. The laser channels and their designated vertical angles are as shown below. Figure 6-1 RS-Ruby_Plus Vertical Angles 6.2 Exact Point Timing Calculation The time required to complete one round of firing and recharging of 128 lasers is 55.56us.
  • Page 29 RS-Ruby Plus User Manual -13.61 -5.92 1.217 56.773 112.329 -6.52 5.94 2.434 57.99 113.546 -6.40 2.39 2.434 57.99 113.546 -6.31 -1.15 2.434 57.99 113.546 -6.21 -4.69 2.434 57.99 113.546 -7.67 4.72 3.652 59.208 114.764 -7.17 1.18 3.652 59.208 114.764 -6.87 -2.36 3.652 59.208...
  • Page 30 RS-Ruby Plus User Manual -2.30 -1.15 16.941 72.497 128.053 -2.20 -4.69 16.941 72.497 128.053 -2.90 4.72 18.959 74.515 130.071 -2.80 1.18 18.959 74.515 130.071 -2.70 -2.36 18.959 74.515 130.071 -2.60 -5.90 18.959 74.515 130.071 -1.69 5.94 20.976 76.532 132.088 -1.59 2.39 20.976 76.532...
  • Page 31 RS-Ruby Plus User Manual 1.21 1.18 40.666 96.222 151.778 1.31 -2.36 40.666 96.222 151.778 1.41 -5.90 40.666 96.222 151.778 2.32 5.94 42.683 98.239 153.795 2.41 2.39 42.683 98.239 153.795 2.52 -1.15 42.683 98.239 153.795 2.62 -4.69 42.683 98.239 153.795 1.91 4.72 44.267 99.823...

  • Page 32: Troubleshooting

    RS-Ruby Plus User Manual 7 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-Ruby Plus User Manual 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  1( 8 bits, no parity, 1 stop bit). Check whether the GPS signal level is 3.3V TTL or RS232 ...

  • Page 34: Appendix A Web Interface

    RS-Ruby Plus User Manual Appendix A Web Interface RS-Ruby Plus can only be accessed and controlled by its Web Interface, through which users can perform various operations on the RS-Ruby Plus, including setting LiDAR parameters, viewing LiDAR operation status, updating firmware, etc. RS-Ruby Plus web address changes with the Device IP.
  • Page 35 RS-Ruby Plus 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 RS-Ruby Plus User Manual Figure A-3 Angle Pulse Setting Page of the LiDAR Web Interface 1.Angle Pulse Setting：Set the angle pulse triggering feature, which by default is turned off; 2.Trigger Mode ： There are two starting angle trigger modes. Mode1 means that the starting pulse width is increased by 25% (default), and Mode2 means that the starting pulse width is not increased;...

  • Page 37: Diagnostic Screen

    RS-Ruby Plus User Manual Note: 1. The Device IP and the Destination PC IP must share the same network segment, otherwise the connection won’t be successful; 2. The MSOP and DIFOP port number can be set from 1025 to 65535; 3.

  • Page 38: System Screen

    RS-Ruby Plus User Manual 10.Start-up Times: users can learn the total number of start-up times of the LiDAR up to date, each power circle counts 1 star-up； 11.Elapsed time Total TO: users can view the total operating time of the LiDAR and the total operating time under different temperature range respectively.
  • Page 39 RS-Ruby Plus User Manual 3.When the new firmware is successfully uploaded, the file name of the firmware will appear in the box behind the bottom Board Firmware Update, click Update to initiate the update process Figure A-7 Click Update 4.After the Update process completes, the Web Interface will prompt Update Successful, 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-Ruby Plus 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-Ruby Plus 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-Ruby Plus User Manual 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: Register value: 00 02 04 0A 00 Bottom board firmware version: 02040A00 B.7 Software Version(SOF_FRM) SOF_FRM (5 bytes in total) Byte No.

  • Page 43: Corrected Horizontal Angle

    RS-Ruby Plus User Manual Byte No. byte37 byte38 byte39 byte40 byte41 byte42 byte43 byte44 byte45 Function Channel 13 vertical angle Channel 14 vertical angle Channel 15 vertical angle Byte No. byte46 byte47 byte48 byte46 byte47 byte48 byte46 byte47 byte48 Function Channel 16 vertical angle Channel 17 vertical angle Channel 18 vertical angle...

  • Page 44: Serial Number

    RS-Ruby Plus User Manual Function Channel 19 horizontal angle Channel 20 horizontal angle Channel 21 horizontal angle Byte No. … … … Function … Byte No. byte358 byte359 byte360 byte361 byte362 byte363 byte364 byte365 byte366 Function Channel 120 horizontal angle Channel 121 horizontal angle Channel 122 horizontal angle Byte No.

  • Page 45: B.13Time Synchronization Status（Sync_Status

    RS-Ruby Plus User Manual B.13Time synchronization Status（Sync_Status） Sync_Status（1 bytes in total） Byte No. 1byte Function Sync_Status Register description: 1）00 represents synchronization success； 2）01 represents synchronization failure. B.14 UTC Time（UTC_TIME） UTC_TIME (10 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7...

  • Page 46: Fault Diagnosis（Falt_Digs

    RS-Ruby Plus User Manual Register description: 1 ） Idat is the current of the LiDAR power supply. The current value is composed of 2 bytes. Current calculation formula: Idat= /100 Value For example, when byte1 = 0x00,byte2 = 0x70，the actual current value： Idat = 0x70/100=1.12A 2）Vdat has 9 different voltage values, each voltage value has 2 bytes, calculation formula of each voltages are as below:...

  • Page 47: Gprmc Data Packet-Ascii Code Data Type

    RS-Ruby Plus User Manual B.18 GPRMC Data Packet-ASCII Code Data Type 86 bytes are reserved for the GPRMC data packet. According to the length of the GPRMC message output by the external GPS module, the received GPRMC message is self-adaptively stored and can be analyzed and viewed in ASCII code.

  • Page 48: Appendix C Rsview

    RSView3.1.19. C.1 Software Features RSView provides real-time visualization of any RoboSense LiDAR data. RSView can also review pre-recorded data stored in “pcap” (Packet Capture) files, but RSView still does not support playing pcapng files. RSView displays distance measurements from a RoboSense LiDAR as point data.

  • Page 49: Visualize Streaming Sensor Data

    RS-Ruby Plus User Manual 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. In addition, you need to make sure that the RSView is not blocked by firewalls or third-party security software. C.4 Visualize Streaming Sensor Data 1.

  • Page 50: Capture Streaming Sensor Data To Pcap File

    RS-Ruby Plus User Manual Figure C-3 Sensor Network Configuration 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 51: Replay Pcap File

    RS-Ruby Plus User Manual Figure C-6 RSView Record Saving Dialog. 3. Click the Record button again to stop saving pcap data. C.6 Replay PCAP File You can use RSView to replay or verify the pcap file saved by a RS-Ruby Plus. You can press the Play button to play or select frames in the data that you are interested in.
  • Page 52 RS-Ruby Plus User Manual 3. In the pop-up “Sensor Configuration” dialog, add and select the correct RS-Ruby Plus 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 53 RS-Ruby Plus User Manual Figure C-13 RSView Select All Points Tool 9. In the 3D rendered data pane, use your mouse to draw a rectangle to frame some data points. The data of these points will immediately populate the data table and the selected data points will turn pink in the data pane (Figure C-14).

  • Page 54: Appendix D Rs-Ruby Plus 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 LiDAR driver package, which has included drivers for many RoBosense mechanical LiDAR sensors. Three compilation modes are supported: 1.

  • Page 55: Configure Pc Ip

    RS-Ruby Plus 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 the set (COMPILE_METHOD ORIGINAL) at the top of the file to set (COMPILE_METHOD COLCON).

  • Page 56: View Offline Data

    You can use rslidar_sdk to parse the saved offline pcap file into point cloud data for display. 1. Modify the parameters in rslidar_sdk/config/config.yaml msg_source: modified to 3 pcap_directory: configure to the absolute path of the pcap file: (e.g. /home/robosense/RSHelios.pcap) 2. Open the terminal and run the node program: cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_sdk start.launch...

  • Page 57: Appendix E Mechanical Drawings

    RS-Ruby Plus User Manual Appendix E Mechanical Drawings...

  • Page 58: Appendix F Correspondence Table Of Channel Ranging Ability

    RS-Ruby Plus User Manual Appendix F Correspondence Table of Channel Ranging Ability...

  • Page 59: Attention

    RS-Ruby Plus User Manual Appendix G Sensor Cleaning In order to be able to accurately sense the surrounding environment, LiDAR needs to be kept clean, especially the optical ring lens. G.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-Ruby Plus User Manual...

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