LSLIDAR C32W User Manual
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LSLIDAR C32W User Manual

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C32W
USER MANUAL
V4.0.3
2022.12
LeiShen Intelligent System Co., LTD
http:/ /www.lslidar.com/

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Summary of Contents for LSLIDAR C32W

  • Page 1 C32W USER MANUAL V4.0.3 2022.12 LeiShen Intelligent System Co., LTD http:/ /www.lslidar.com/...
  • Page 2 Safety Instruction Before using the product, please read and follow the instructions of this manual carefully, and refer to relevant national and international safety regulations. ∆Attention Please do not disassemble or modify the lidar privately. If you need special instructions, please consult our technical support staff. ∆Laser Safety Level The laser safety of this product meets the following standards: ●...
  • Page 3 the power supply requirements, or supply power in a humid environment may cause abnormal operation, fire, personal injury, product damage, or other property loss. Light Interference Some precise optical equipment may be interfered with by the laser emitted by this product, please pay attention when using it. Vibration Please avoid product damage caused by strong vibration.

  • Page 4: Table Of Contents

    Table of Contents 1. PRODUCT PROFILE ....................... 1 1.1 O ..........................1 VERVIEW 1.2 M ......................... 1 ECHANISM 1.3 S ........................1 PECIFICATIONS 1.4 M ....................2 ECHANICAL TRUCTURE 1.5 L ........................... 4 IGHT 2. ELECTRICAL INTERFACE ...................... 4 2.1 P ........................
  • Page 5 7. ANGLE AND COORDINATE CALCULATION ..............35 7.1 V ........................ 35 ERTICAL NGLE 7.2 H ......................36 ORIZONTAL NGLE 7.2.1 Horizontal Angle Calculation of Single Echo Mode ........... 36 7.2.2 Horizontal Angle Calculation of Dual Echo Mode ..........37 7.3 C ..............

  • Page 6: Product Profile

    1.2 Mechanism The C32W mechanical lidar adopts the Time of Flight method. The lidar starts timing (t1) when the laser pulses are sent out. And when the laser encounters the target object and the light returns to the sensor unit, the receiving end stops timing (t2).

  • Page 7: Mechanical Structure

    Weight ≤1500 g 1.4 Mechanical Structure The C32W lidar is equipped with 32 pairs of laser transmitter and receiver modules. Its motor is driven at a rotation speed of 5 Hz/10 Hz/20 Hz to cover a 360° scan range. Figure 1.2 Coordinates & Scanning Direction Note: As shown above, the cable connector of the lidar marks its zero-angle position.
  • Page 8 UDP packet is 0°. The vertical FOV is +15° to -55°. And the optical centre is at 33.87 mm on the central axis. Figure 1.3 C32W Mechanical Drawing Figure 1.4 C32W Dimensions Figure 1.5 C32W Lidar Base...

  • Page 9: Light Spot

    1.5 Light Spot The light spot of C32W lidar is a vertical oval. Its vertical divergence angle is 8.7 mrad, and the horizontal divergence angle is 5.7 mrad. The spot size at any distance can be calculated by multiplying the divergence angle by the distance.

  • Page 10: Connectors

    2.2 Connectors Male connector on the lidar base There is an 8-pin male connector on the side of the C32W lidar base, whose model is L102-M12-Z08A118. You can use an extension cable with a female connector or an adapter cable to lead out the wires to achieve system power supply and data communication.
  • Page 11 The definition of the 8-pin male connector is shown in the table below. Table 2.2 Pin Definition of the 8-pin male connector Definition Level Description 9~36V Power+ TD_P -1~1V Ethernet data flow: lidar external devices TD_N -1~1V Ethernet data flow: lidar external devices RD_P -1~1V Ethernet data flow: external devices lidar...
  • Page 12 Do not use brute force to avoid terminal deformation or even short circuit. If the connector is damaged, please contact technical support in time to replace it. The connector terminal model of the extension cable is: L102-M12-T08A02M. Figure 2.4 C32W Lidar Extension Cable (unit: mm)
  • Page 13 Power- (3) Interface Box (Optional) To facilitate the testing and connection of connectors, the C32W lidar can also be equipped with an interface box, which is not a necessary accessory for lidar operation. On the interface box, there is a Φ5.5*2.1 mm DC socket, an indicator light, an RJ45 network port and a 6-pin GPS port, as shown in the figure below.

  • Page 14: Get Ready

    GPS_GND Good contact If you need multiple lidars to build maps at the same time, LeiShen Intelligent provides a GPS synchronization board to solve the problem of insufficient timing signal driving capability of your controller. This item is optional, please contact our technical support for information.
  • Page 15 Note: Wireshark is a third-party software, and you may need to download it by yourself. LeiShen Intelligent bears no responsibility for any copyright and commercial disputes caused by users’ use of the software. To view the point cloud data generated by the lidar, you can either use the Windows Client or the ROS Drive Program.

  • Page 16: Usage Guide

    4. Usage Guide This part states the operation instructions of the LSC32W Windows Client and ROS driver presented by the LeiShen Intelligent System Co. Ltd. 4.1 Operation Under Windows OS 4.1.1 Lidar Configuration The default IP address and port number of the lidar network are as follows: Table 4.1 Default Lidar Network Configuration Device Package...

  • Page 17: Windows Client Interface

    see the figure below. Figure 4.1 Wireshark Captures ARP Packet 4.1.2 Windows Client Interface The software interface includes menu area, tool bar area, 3D window area, data table area, etc. Windows Client Figure 4.2 Interface Note: To view the software version, click “Help->About” in the toolbar. The point cloud display interface supports the following operations: 1) Zoom in/out the display interface with the mouse wheel;...
  • Page 18 2) Hold the left mouse button and drag it to adjust the angle of view; 3) Hold the mouse wheel and drag it to pan the display interface; or hold the shift key on the keyboard and the left mouse button to pan the interface. Menu button function introduction ⚫...

  • Page 19: Operation Procedure

    When paused, view the next frame; When playing, fast forward (click multiple times to select 2x, 3x, 1/2x, 1/4x and 1x speed) Skip to the end Drag the progress bar or enter the frame number to skip to the specified position ⚫...

  • Page 20: Parameter Config Example Of Lidar Network Communication Mode

    If you need to parse lidar data, please follow the steps below: Step 1. Parse the data package to obtain the relative horizontal angle, ranging information, intensity data and microsecond timestamp information of each laser; Step 2. Read the device package to obtain information such as the horizontal correction angle value, UTC (GPS or NTP time service) and the current configuration of the device;...
  • Page 21 Multicast The computer IP is the address of the multicast group. The default subnet mask is 0.0.0.0 and the default gateway is 0.0.0.0. No need to configure the subnet mask or the gateway. Broadcast Under the broadcast mode, the computer IP address is the broadcast address, and the lidar IP address and the computer IP address are in the same network segment.

  • Page 22: Note

    2) At the same time, since Qt is adopted in the low-level software development, please create English paths when naming files and path folders. 3) Since the port number of the C32W lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port.
  • Page 23 in the pop-up Ethernet properties box, as shown in the figure below. Figure 4.4 Network Connections Step 3. In the TCP/IPv4 property settings, set the IP address to the lidar's destination IP (The default destination IP of the lidar is 192.168.1.102), and the subnet mask is set to 255.255.255.0.
  • Page 24 4) Since the Windows Client needs to obtain a large number of data packets through the network in a short time, it may be considered as a malicious program by the network firewall and be prohibited. Therefore, there may be situations in which the data packet has been sent to the computer by the Wireshark software, but the client cannot display it.

  • Page 25: Ros Driver Operation Under Linux Os

    and select “NVIDIA Control Panel”. Step 2. Select the “Manage 3D Settings” in the NVIDIA Control Panel interface. Step 3. Click the “Program Settings” button in the Manage 3D Settings interface. Step 4. Click the “Add” button on the Manage 3D Settings interface. Step 5.

  • Page 26: Software Operation Example

    check the hardware connection. Step 5. Use “sudo tcpdump -n -i eth0” (here eth0 is the name of the wired network device, see the device name of ifconfig wired connection display for details) to view the data packets sent by the lidar (as shown in the figure, there are 1206-byte data packets sent by the lidar to the destination, which means that the lidar data is sent normally).

  • Page 27: Communication Protocol

    Note 1): If the lidar destination port and motor speed are modified, please open “lslidar_c32w.launch” to modify the configuration accordingly. The default data packet port is 2368, device packet port is 2369, IP address is 192.168.1.200. Note 2): If timeout appears, it means that the driver has no data reception. Please check the hardware connection.

  • Page 28: Msop Protocol

    (6 bytes of UTC, 4 bytes of Timestamp and 2 bytes of Factory). 5.1.1 Format The C32W lidar supports single and dual echo modes. Single echo mode measures the most recent echo value, and dual echo mode measures the most recent echo and the second recent echo value.

  • Page 29: Data Package Parameter Description

    second echo data; Block (3, 4) is the two echo data of the next set of 32 point cloud data, ..., and so on. Only one azimuth angle is returned for each parity data block pair. See the picture below: Figure 5.2 Data Format of the Dual Echo Mode 5.1.2 Data Package Parameter Description Ethernet Header...
  • Page 30 The measured data has a total of 1200 bytes, which is composed of 12 data blocks, and each data block is 100 bytes in length. A data block includes: ● 2 bytes 0xffee fixed value flag bit; ● 2 bytes Azimuth's relative horizontal angle information; ●...

  • Page 31: Difop Protocol

    0x20 Vendor information represents C32W lidar 1) When there is a GPS device inputting PPS signal to the lidar, the timestamp is generated with the PPS time as the cycle time, and the range of the timestamp is 0-999,999,999 (ns);...
  • Page 32 header, 1196-byte data and 2-byte frame tail. Figure 5.2 Data Format of the Device Package Ethernet Header: 42 bytes Name Information Offset Length (byte) Destination Ethernet II Source Ethernet Type Packet Type Version, Header Length, Differentiated Services, Field, Total Length, Internet Identification, Flags, Fragment Offset, Protocol...

  • Page 33: Ucwp Protocol

    GPS Status PPS Status High Temperature Suspension Cover Dirty Count Cover Dirty Alarm Message Cover Dirty Energy Value Threshold Adjustment Value Input Voltage Value Input Current Value Length of Work Reserved 1095 Tail Frame Tail 1204 Header is the device packet identification header, which is fixed as 0xA5, 0xFF, 0x00, 0x5A, 0x11,0x11,0x55, 0x55, and the first 4 bytes can be used as the packet inspection sequence.

  • Page 34: Configuration Parameters And Status Description

    Destination IP Address Lidar Port (0x0941, represent 2369) UDP Port Computer Port (0x0940, represent Number 2368) UDP Length Length (0x04BE, represent 1214 bytes) & Sum Check Sum Check Payload: 1206 bytes Name Information Offset Length (byte) Configuration Package Identification Header Header Motor Speed Ethernet Configuration 1...
  • Page 35 The length of the source IP address “IP_SRC” is 4 bytes and the length of the destination IP address “IP_DEST” is 4 bytes. Each lidar has a fixed MAC address “MAC_ADDR”, which cannot be configured by users. Port1 is the UDP data port number and port2 is the UDP device port number.

  • Page 36: Configuration Package Example

    horizontal angle of the lidar and the set PPS alignment angle value, is 0.01°. “Valid is 0” indicates that the second pulse signal is valid. Angle_err[14:0] is the alignment angle error value, which is a signed integer with a range of - 18000~18000, that is, between -180°...

  • Page 37: Time Synchronization

    $GPRMC of the GPS as the UTC time (accurate to the second) output of the device package. There are two types of C32W lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard; the GPS_REC interface specification on the power box is SH1.0-6P female socket.
  • Page 38 Indication positioning, D= difference, E=estimation, N=invalid data The C32W lidar is compatible with GPS interfaces of multiple data formats. The GPRMC data format only needs to meet the following two requirements: the data after the first comma separator is hour, minute and second information; the data after the ninth comma separator is date information.

  • Page 39: External Synchronization

    6.2 External Synchronization In external synchronization, the lidar receives the PPS signal input by other external devices and times it in microseconds, and the timing value is output as the timestamp of the data packet. At this time, there is no UTC time reference. If UTC time is required, it must be written in the configuration package, otherwise the UTC time output information of the device package is invalid.

  • Page 40: Lidar Internal Timing

    UTC time output information of the device package will be invalid. 7. Angle and Coordinate Calculation 7.1 Vertical Angle Each channel of the C32W lidar corresponds to a fixed vertical angle, see the table below. Table 7.1 C32W Vertical Angle UDP Packet...

  • Page 41: Horizontal Angle

    31 laser shots of the block can be calculated. The data block structure of the C32W single echo packet is as follows: Figure 7.1 Single Echo Data Block Structure Take Channel 31 data of Block 3 as an example: 1) The vertical angle of the Channel 31 can be obtained from Table 7.1.

  • Page 42: Horizontal Angle Calculation Of Dual Echo Mode

    (N+1)-th even-numbered block is the horizontal angle value corresponding to Channel 0 measured by the last laser emission, and the angle values corresponding to the other 31 channels need to be calculated by interpolation. The data block structure of the C32W lidar’s dual-echo packet is as follows:...
  • Page 43 Figure 7.2 Dual Echo Data Block Structure Take the Channel 31 data of Block 3 as an example: 1) From the picture above, it is clear that Channel 31 is at the end of each data block and is the last channel to emit light. 2) The horizontal angle of the starting channel of Block 3 is N2 degrees, which is the horizontal angle of Channel 0.

  • Page 44: Cartesian Coordinate Representation

    7.3 Cartesian Coordinate Representation Obtain the vertical angle “Vertical Angle”, the horizontal angle “Point Azimuth” and the distance parameter “Distance” of the corresponding point of the lidar and convert the angle and distance information in polar coordinates into x, y, and z coordinates in the right-hand Cartesian coordinate system.

  • Page 45: Judgment Of One Frame Of Data

    The timestamp and UTC time come from the same synchronization source, such as a GPS or PTP server. The light-emitting time interval of each channel of C32W lidar is 1.5625 μs. The data packet has 12 data blocks, and one data block contains 32-channel data.

  • Page 46: Accurate Time Calculation Of Channel Data

    Packet_end 8.2.2 Calculate the Accurate Time of Channel Data The light-emitting time interval of each channel of the C32W lidar is fixed as: T=50,000 ns /32=1562.5 μs. The light-emitting time has a fixed correspondence with the encapsulation order of UDP packets. Assuming that the light-emitting...
  • Page 47 Table 8.1 C32W Lidar Channel Light-Emitting Time UDP Packet UDP Packet Light-Emitting Time Light-Emitting Time Encapsulation Encapsulation (T=1536ns) (T=1536ns) Sequence Sequence Channel 0 Channel 16 +(T*16) Channel 1 +(T*1) Channel 17 +(T*17) Channel 2 +(T*2) Channel 18 +(T*18) Channel 3...

  • Page 48: Appendix A. Maintenance

    Storage Conditions The storage temperature of C32W series products is -40°C ~ 85°C. It is recommended to store the products in a ventilated and dry place where the temperature is 23±5°C, and the relative humidity is 30% ~ 70%. Do not store in environments where humidity, pH, etc.

  • Page 49: Appendix B. Power Supply Requirements

    dustless cloth to remove any remaining liquid. Appendix B. Power Supply Requirements This lidar’s power input range is 9 V～36 VDC. If other DC power supply is adopted, the recommended output voltage is 12 V, 19 V, 24 V or 32 VDC. The output ripple noise should be <100mV (Vp-p) and output voltage accuracy <5%.
  • Page 50 conductor cross-sectional area S. When the lidar and wire are determined, then these four variables are all known quantities, and the voltage drop ΔU can be calculated. Since it is often impossible to carry out such detailed calculations on the construction site, we will give some suggestions based on our experience.
  • Page 51 Revision History Rev. Release Date Revised Content Issued/Revised By V4.0.0 2022-08-10 Initial Version LS1286 Mechanical drawing change; modification of Table 2.2, V4.0.1 2022-10-27 LS1286 Figure 3.1 and azimuth; 1.5 light spot added Modification of additional information, motor speed, lidar V4.0.2 2022-11-01 LS1286 IP range settings, lidar internal...
  • Page 52 60 Rue Saint Antoine 75004 Paris, France TEL: 0033-(0)749044832 Eric Chen Sales Email: sales@lslidar.com After-Sales Email: support@lslidar.com Company Website: www.lslidar.com *This product information is subject to change without notice. Copyright © 2022 LeiShen Intelligent System Co., Ltd. All rights reserved.

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