RoboSense LiDAR RS-Ruby Plus User Manual page 25

RS-Ruby Plus User Manual
Figure 5-2 MSOP Packet
Note:
Red 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） Find the distance value in the data packet and convert to a hexadecimal number： 0x03 、 0x86。
2）Convert to a decimal number：902。
3）Calculate according to the distances resolution
4）Result: 902*0.5 = 4.51m
2.Calculate azimuth based on azimuth data in the data packet:
1） Find the azimuth value in the data packet and convert to a hexadecimal number： 0x47、 0xe3。
2）Convert to a decimal number：18403。
3）Divided by 100
4）Result:184.03 degrees
5.2.2.2 Azimuth Value
The azimuth value of each data block is the azimuth value reported by the first laser of the firing
sequence of this data block. Azimuth value is recorded by angle encoder with the zero position of
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