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RoboSense LIDAR RS-Helios-1615 User Manual

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RS-Helios-1615 User Manual
RS-Helios-1615

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Summary of Contents for RoboSense LIDAR RS-Helios-1615

  • Page 1 RS-Helios-1615 User Manual RS-Helios-1615...
  • Page 2 RS-Helios-1615 User Manual Revision History Modifications Release Date Edited by Issue Original issue 2021-1-7 1.0.0 1. Corrected the description in "Table 5" Corrected the logo in "Figure 10" 3. Updated the structural installation diagram in 2021-01-27 1.0.1 “Figure 4” 4. Corrected the errors in Chapter B15 Appendix B 5.
  • Page 3 RS-Helios-1615 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 Protocol version Temp...

  • Page 4: Table Of Contents

    RS-Helios-1615 User Manual Content Safety Notices ..........................1 Helios Series Products ....................... 2 Product Appearance and Interface ................... 3 Product Appearance ....................3 Aviation Plug and Pin Definition ................3 Interface Box ......................4 Unboxing & Installation ......................6 Standard Package ...................... 6 Sensor Mounting .......................
  • Page 5 C.7 Set RSView Data Port ......................48 Appendix D RS-Helios ROS&ROS2 Package ..................49 D.1 Install Software ......................... 49 D.2 Download & Compile RoboSense LiDAR Driver Package ..........49 D.3 Configure PC IP........................50 D.4 Real Time Display ......................50 D.5 View Offline Data ......................
  • 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-1615 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-16P -15°~+15° Uniform 2° Vertical Resolution This manual is for the RS-Helios-1615 product.

  • Page 9: Product Appearance And Interface

    RS-Helios-1615 User Manual 3 Product Appearance and Interface 3.1 Product Appearance Aviation plug interface side Figure 1 LiDAR Coordinate and Rotation Direction 3.2 Aviation Plug and Pin Definition RS-Helios-1615 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: Color Function...

  • Page 10: 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 3 Definition of Interface Box Ports...
  • Page 11 RS-Helios-1615 User Manual 3.3.3 GPS Time Synchronization RS-Helios-1615 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 Function Pin No.

  • Page 12: Unboxing & Installation

    Screw Pack M3X8 *4, M3X12 *4 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. Sensor Mounting 3xM3 Screws, 4-5mm above mounting surface; 13±1kgf.cm recommended tightening torque 2xΦ4 locating pins, 4-5mm above mounting surface...
  • Page 13 RS-Helios-1615 User Manual  Screw Specifications GB/T70.1, M3x12, hexagon socket head, material SCM435, electroplated trivalent chromium 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. ...

  • Page 14: Quick Connection

    RS-Helios-1615 User Manual 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. We recommend using aluminum alloy for the mounting base material, which facilitates heat dissipating of the LiDAR during operating.
  • Page 15 RS-Helios-1615 User Manual The wiring diagram of the Interface Box connection is as shown in the figure below: To PC Network To GPS Interface Box To power adapter 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-1615 User Manual Table 5 Ranging Capability of LiDAR Channel Vertical Angle （ ° ） 10% NIST （ m ） Range （ m ） Channel No. 15° 14° 13° 12° 11° 10° 9° 8° 7° 6° 5° 4° 3° 2° 1°...

  • Page 18: Point Cloud Display

    RS-Helios-1615 User Manual 5.2 Point Cloud Display 5.2.1 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 19: Laser Return Modes

    RS-Helios-1615 User Manual Diffuse Reflectors Black, absorbent diffuse reflector White, reflective diffuse reflector Reflectivity ≈0 Reflectivity <100 Retro-Reflectors Retro-reflector covered with semi- Retro-reflector without any coverage transparent white surface Reflectibity≈255 Reflectivity>100 Figure 7 Definition of Reflectivity 5.4 Laser Return Modes 5.4.1 Principle of Laser Return Modes RS-Helios-1615 supports multiple laser return modes, namely: Strongest, Last, First and Dual.

  • Page 20: Return Mode Flag

    RS-Helios-1615 User Manual 1. The sensor records both returns only when the distance between two objects is 1 meter or more. 2. When a laser pulse hits only one object, there is only the strongest return. 3. When a laser pulse hits two solid walls or other objects at two different distances, two returns will be produced. In this case, there are two situations: (1) When the strongest return is not the last return, the strongest and last return will be reported;...

  • Page 21: Time Synchronization

    RS-Helios-1615 User Manual click Setting > Phase Lock Setting, for the "Phase Lock" parameter setting. The phase locking value can be set from 0 to 359. 5.6 Time Synchronization RS-Helios-1615 supports GPS+PPS and PTP time synchronization methods. Users can use the RS- Helios-1615 Web Interface to set the time synchronization modes.

  • Page 22: Ptp Time Synchronization

    The length of GPRMC messages reserved in the DIFOP packet of RS-Helios-1615 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. 5.6.3 PTP Time Synchronization...
  • Page 23 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 24: Communication Protocol

    RS-Helios-1615 User Manual 6 Communication Protocol The communication between RS-Helios-1615 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 8 Communication Protocols Abbreviation Function Type Packet Size Protocol...

  • Page 25: Main Data Stream Output Protocol（Msop

    RS-Helios-1615 User Manual 6.2 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 6.2.1 Header 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: Table 9 MSOP Header Header (42 bytes)

  • Page 26: Data Blocks

    RS-Helios-1615 User Manual 6.2.2 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 27: Tail

    RS-Helios-1615 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 2.

  • Page 28: Device Info Output Protocol（Difop

    RS-Helios-1615 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 version information, host computer driver compatibility information, network configuration information, calibration information, motor operating configuration, operating status, and fault diagnosis information to users.
  • Page 29 RS-Helios-1615 User Manual Synchronization status Time Operating status Reserved Fault diagnosis Whether the code wheel is calibrated GPS PPS pulse trigger mode Reserved GPRMC Corrected vertical angle Corrected horizontal angle Reserved Tail 1246 Tail Note: The Header (the DIFOP identifier) in the table above is 0xA5,0xFF,0x00,0x5A,0x11,0x11,0x55,0x55, it can be used to identify the packet.

  • Page 30: Vertical Angles And Precision Point Timing Calculation

    RS-Helios-1615 User Manual 7 Vertical Angles and Precision Point Timing Calculation 7.1 Channel Number and Vertical Angle RS-Helios-1615 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-1615 User Manual Table 13 MSOP Packet Time Offset of Exact Laser Point Timing in Single Return Mode Channel Vertical Data Block Angle 15° 55.56 111.11 166.67 222.22 277.78 333.33 388.89 444.44 555.56 611.11 14° 1.57 57.13 112.69 168.24 223.8 279.35 334.91 390.46...

  • Page 32: Troubleshooting

    RS-Helios-1615 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 Interface Box is off or blinking normal.
  • Page 33 RS-Helios-1615 User Manual  Make sure that the data packets received by wireshark are MSOP packets.  Check whether there is excessive traffic and/or collisions on network.  Check whether there are other network devices in the network sending excessive broadcast packets, which slows the sensor down.

  • Page 34: Appendix A Web Interface

    RS-Helios-1615 User Manual Appendix A Web Interface RS-Helios-1615 can only be accessed and controlled by its Web Interface, through which users can perform various operations on the RS-Helios-1615, including setting LiDAR parameters, viewing LiDAR operation status, updating firmware, etc. There are mainly four screens of the LiDAR Web Interface, namely the Device, Setting, Diagnostic, and System.
  • Page 35 RS-Helios-1615 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 2.
  • Page 36 RS-Helios-1615 User Manual Figure A-2.2 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-Helios-1615 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, and the MSOP port and DIFOP port cannot be set to the same port;...

  • Page 38: System Screen

    RS-Helios-1615 User Manual operating time under different temperature range respectively. 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.
  • Page 39 RS-Helios-1615 User Manual Figure A-5 Select the Right Firmware 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.
  • Page 40 RS-Helios-1615 User Manual Figure A-7 Update Successful Note: Note: The upgrade package name must meet the following requirements before it can be upgraded normally, otherwise an error will be reported: ·Top board upgrade file: The necessary prefix "helios_top”. The necessary suffix ".bin" ·Bottom board upgrade file: The necessary prefix "helios_bot_"...

  • Page 41: Appendix B Information Registers

    RS-Helios-1615 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 42: Fov Setting（Fov_Set

    RS-Helios-1615 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 43: Bottom Board Firmware Version(Bot_Frm)

    RS-Helios-1615 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 01 03 01 00 Segmentation of value: 0x0001030100 Bottom board firmware version: 01030100 B.7 Motor Firmware Version(MOT_FRM) MOT_FRM (5 bytes in total)
  • Page 44 RS-Helios-1615 User Manual Byte No. byte19 byte20 byte21 byte22 byte23 byte24 byte25 byte26 byte27 Function Channel 7 vertical angle Channel 8 vertical angle Channel 9 vertical angle Byte No. byte28 byte29 byte30 byte31 byte32 byte33 byte34 byte35 byte36 Function Channel 10 vertical angle Channel 11 vertical angle Channel 12 vertical angle Byte No.

  • Page 45: Corrected Horizontal Angle

    RS-Helios-1615 User Manual B.10 Corrected Horizontal Angle(COR_HOR_ANG） COR_HOR_ANG(96 bytes in total) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 Function Channel 1 horizontal angle Channel 2 horizontal angle Channel 3 horizontal angle Byte No. byte10 byte11 byte12 byte13 byte14 byte15...

  • Page 46: Serial Number

    RS-Helios-1615 User Manual B.11 Serial Number(SN） SN(6 bytes in total) Byte No. 1byte 2byte 3byte 4byte 5byte 6byte Function Similar to the MAC address, it indicates the serial number of the LiDAR with a total of 6 bytes in hexadecimal. B.12 Software Version（SOFTWARE_VER）...

  • Page 47: Fault Diagnosis（Falt_Digs

    RS-Helios-1615 User Manual Idat=Value_temp/4096 *5A For example, when byte1 = 0xc8, byte2 = 0x02, the actual current value: Idat =Value_temp/4096 *5A= 0x02c8/4096 *5A =0.87A (2) Vdat has 5 different voltage values, each voltage value has 2 bytes, calculation formula of the 5 voltages are as below: Vdat = value/4096 V Vdat_12V_reg = value /4096 * 24.5V...

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

    RS-Helios-1615 User Manual GPS_ST Byte No. Function Status Description PPS flag: PPS signal is invalid bit0 PPS_LOCK PPS signal is valid GPRMC flag: GPRMC signal is invalid bit1 GPRMC_LOCK GPRMC signal is valid UTC Lock flag: LiDAR internal time is not synchronized with UTC time bit2 UTC_LOCK LiDAR internal time is synchronizing with UTC time...

  • Page 49: Appendix C Rsview

    RSView3.1.7. 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. It supports custom-colored display of variables such as intensity-of-return, time, distance, azimuth, and laser ID.

  • Page 50: Set Up Network

    RS-Helios-1615 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-1615 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: Replay Pcap File

    RS-Helios-1615 User Manual 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-Helios LiDAR. You can press the 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-1615 User Manual 5. In order to get a more detailed analysis, select a frame of data that you are interested in and click the Spreadsheet button (Figure C-9). A sidebar data table will be displayed on the right side of the screen, which contains details of all the data of this frame Figure C-9 RSView Spreadsheet Tool.

  • Page 54: Set Rsview Data Port

    RS-Helios-1615 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. If these two port numbers of RS-Helios are modified in the means described in Section C.7 in other ways, you will need to reset the Data Port that RSView acquires data to the modified port number, otherwise there will be no data display.

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

    3. Download and install libpcap-dev. 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-1615 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

    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 58: Appendix E Mechanical Drawings

    RS-Helios-1615 User Manual Appendix E Mechanical Drawings...

  • Page 59: Appendix F Sensor Cleaning

    RS-Helios-1615 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-1615 User Manual...

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