Related Manuals for LSLIDAR MS06-B
Summary of Contents for LSLIDAR MS06-B
- Page 1 MS06-B User Manual V1.0.2 202.04 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.
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Page 4: Table Of Contents
TABLE OF CONTENTS ....................... 1 1. PRODUCT PROFILE 1.1 O ........................... 1 VERVIEW 1.2 M ..........................1 ECHANISM 1.3 S ........................... 1 PECIFICATIONS 1.4 D ..........................2 IMENSIONS ....................3 2. ELECTRICAL INTERFACE 2.1 P ........................... 3 OWER UPPLY 2.2 W ........................ - Page 5 5.3.2 Configuration Package Example ................. 24 ..................26 6. TIME SYNCHRONIZATION 6.1 GPS S ......................26 YNCHRONIZATION 6.2 E ....................27 XTERNAL YNCHRONIZATION PTP S ......................27 YNCHRONIZATION 6.4 L ......................28 IDAR NTERNAL IMING ............... 29 7. ANGLE AND COORDINATE CALCULATION ..................
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Page 6: Product Profile
1. Product Profile 1.1 Overview The MS06-B is a lidar based on time-of-flight mechanism. It has a wide FOV of 120°*40°, a detecting distance of up to 1200 m, a range accuracy of ±3 cm and a minimum angular accuracy of 0.02°, which make it ideal for mapping applications. -
Page 7: Dimensions
Operating Voltage 28 VDC Power Consumption 100 W Operating Temperature -45℃～+70℃ Storage Temperature -55℃～+85℃ IP Grade IP 67 Dimensions 242.3*220*96 mm Weight About 4.0 kg 1.4 Dimensions Here below is the mechanical drawing of MS06-B lidar. Figure 1.2 MS06-B Mechanical Drawing... -
Page 8: Electrical Interface
MS06-B 2. Electrical Interface 2.1 Power Supply The power input to the MS06-B lidar is 28 VDC. Please keep the voltage output fluctuations within 10%, otherwise the lidar may not be able to work normally. 2.2 Wiring Definition The lidar connector of MS06-B lidar is as shown below. - Page 9 PGND Power- PGND Shell Shield ground The cable from the side of the MS06-B lidar is a 17-pin industry ethernet cable. Figure 2.2 The 17-PIN Industry Ethernet Cable Table 2.2 Wiring Definition of the 17-PIN Industry Ethernet Cable CN2/CN3/C CN2/CN3/CN4...
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Page 10: Get Ready
3.2 Software Preparation The MS06-B lidar can be operated under both Windows operating system and Linux operating system. Software needed is as follows: Wireshark: to capture the ARP (Address Resolution Protocol) packets. - Page 11 MS06-B To install the WinPcap software, please follow the following steps: Step 1. Insert the USB driver into computer port and open it. Step 2. Find the WinPcap installation file and double-click it to initiate the installation. Step 3. Click “next” to enter the installation path selection interface.
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Page 12: Usage Guide
MS06-B 4. Usage Guide This part states operation instructions of the Windows Client and ROS drive 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... -
Page 13: Windows Client Interface
MS06-B Figure 4.1 Wireshark captures APR packets 4.1.2 Windows Client Interface The software interface includes menu area, tool bar area, 3D window area, data table area, etc. Figure 4.2 Initial Interface Note: To view the software version, click “Help->About” in the toolbar. - Page 14 MS06-B 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 ⚫ Lidar Menu Button Description...
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Page 15: Operation Procedure
MS06-B Skip to the end Adjust the play speed of the offline point cloud file Drag the progress bar or enter the frame number to skip to a specified position ⚫ Setup Menu Button Description The upper part of the form shows the lidar configuration. -
Page 16: Point Cloud Data Parsing
MS06-B reflection intensity. 4.1.4 Point Cloud Data Parsing 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;... - Page 17 MS06-B preset destination IP and port. Therefore, when the local laptop or desktop computer and other devices are receiving data, their IP address should be the same as the destination IP, and the port bound to the local host computer...
- Page 18 MS06-B Figure 4.5 IP Address and Subnet Mask Setting 4) Since the LS 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.
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Page 19: Ros Driver Operation Under Linux Os
MS06-B When installing the LS Windows Client on a desktop or laptop with dual graphics cards, the default global settings of the computer operating system is to use the global settings (automatic selection: integrated graphics), which affects the display efficiency of the software. In order to ensure the use and display efficiency of the software, you need to manually set the computer graphics. -
Page 20: Software Operation Example
MS06-B Figure 4.7 ifconfig Command Feedback Note: The default destination IP of the lidar is 192.168.1.102, and the computer must be configured according to the actual lidar destination IP. After setting the IP for the first time, please restart the lidar. - Page 21 MS06-B The ROS driver can also be obtained directly from our website or customer service. Copy the obtained driver file to the newly created workspace “src”, and decompress it. Step 3. Compile and package cd ~/leishen_ws catkin_make Step 4. Run the program source devel/setup.bash...
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Page 22: Communication Protocol
MS06-B 5. Communication Protocol Lidar data output and configuration use Fast Ethernet UDP/IP communication protocol. There are 3 UDP packet protocols, and the packet length is 1248 bytes (42 bytes Ethernet header and 1206 bytes payload). The communication protocols of the lidar are: Main data Stream Output Protocol (MSOP): outputting the distance, angle, intensity and other information measured by the lidar;... -
Page 23: Data Package Parameter Description
MS06-B See the figure below: 42 bytes header Measure point 1 Measure point 2 …… …… Measure point 149 Reserved UTC Time Timestamp Datatype Hardware Note: The lidar displays the point cloud image by frame. In the MSOP data package, if the data of the first point is FF AA BB CC DD EE 11 22, then it is the start mark of the point cloud frame (the lidar scans to the far right at this time). - Page 24 MS06-B of 1192 bytes, including 149 points, that is, 149*8=1192 bytes. Take the first measure point as an example: Byte 1 and Byte 2 represent the horizontal angle. The most significant value in the sequence is stored first, at the lowest storage address while the least significant value is stored at the highest storage address.
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Page 25: Difop Protocol
MS06-B The additional information of the single echo mode is 14 bytes in length, including 2 bytes reserved, 6 bytes of UTC, 4 bytes of Timestamp and 1 byte of datatype and 1 byte of hardware. The additional information of the dual echo mode is 18 bytes in length, including 6 bytes reserved, 6 bytes of UTC, 4 bytes of Timestamp and 1 byte of datatype and 1 byte of hardware. - Page 26 MS06-B 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. The tail is fixed as 0x0F,0xF0. Figure 5.2 Data Format of the Device Package...
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Page 27: Ucwp Protocol
MS06-B Laser Status Detection Laser Temperature 1 Laser Temperature 2 Reserved Reserved Reserved Reserved Reserved 1044 Tail Tail 1204 5.3 UCWP Protocol The UCWP configures the lidar's Ethernet, motor speed and other parameters, and the data of the configuration package adopts the Big-Endian mode. -
Page 28: Configuration Parameters And Status Description
MS06-B Reserved Ethernet (IP, MAC, Port, NTP) Ethernet (Gateway, Subnet Mask) Reserved Device Flow Packet Interval Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Data Reserved Reserved Reserved Lidar Status Control Laser Power Control Reserved Reserved Reserved Reserved Reserved... -
Page 29: Configuration Package Example
MS06-B Byte17 Byte18 Byte19 Byte20 Byte21 Byte22 Function Device Port: Port2 Reserved Device Flow Packet Interval Device Flow Packet Interval (2 bytes) Byte0 Byte1 0: send 1 device packet every time 4 data packets are sent; Function other values: 1 device packet per second The configuration 0x0000 means to send 1 device packet every time 4 packets are sent, and other values mean 1 device packet per second. - Page 30 MS06-B Info Content Configuration Length (byte) 0xAA,0x00,0xFF,0x11,0x22,0 Header x22,0xAA,0xAA Reserved Reserved 0x0000 Lidar IP (IP_SRC) 192.168.1.105 0xC0,0xA8,0x01,0x69 Computer IP 192.168.1.225 0xC0,0xA8,0x01,0xE1 (IP_DEST) Data Port (port1) 6688 0x1A20 Device Port 8899 0x22C3 (port2） Reserved Reserved 0x0000 Reserved Reserved 0x00 1180 Tail...
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Page 31: Time Synchronization
MS06-B 6. Time Synchronization There are three ways to synchronize the lidar and external equipment: GPS synchronization, external PPS synchronization and gPTP synchronization. If there is no external synchronization input, the lidar internally generates timing information. The absolute accurate time of the point cloud data is obtained by... -
Page 32: External Synchronization
MS06-B Table 6.1 The Standard Format of $GPRMC Information Name Description/Format hhmmss (hour/minute/second) Positioning A=Effective Positioning，V=Invalid Positioning State Latitude ddmm.mmmm (degree/minute) Latitude N (Northern Hemisphere) or S (Southern Hemisphere) Hemisphere Longitude dddmm.mmmm (degree/minute) Longitude E (East Longitude) or W (West Longitude) -
Page 33: Lidar Internal Timing
MS06-B The steps are as follows: open the point cloud display software, click on “parameter” to bring up the parameter modification window, change “Source Selection” to “PTP” as shown in the figure below. Note: When “PTP” is selected as the clock source, the lidar no longer outputs GPS packets and the time unit changes to nanoseconds (ns). -
Page 34: Angle And Coordinate Calculation
MS06-B 7. Angle and Coordinate Calculation In order to obtain the vertical angle, horizontal angle and distance parameters of the lidar, the angle and distance information in polar coordinates can be converted to the x, y, z coordinates in the right-hand Cartesian coordinate system. -
Page 35: Appendix A. Maintenance
MS06-B Appendix A. Maintenance Shipping Requirements LS series lidars use packaging materials specially customized by our company, which can resist certain vibrations and impacts. For long-distance transportation, special packaging materials must be used to avoid irreversible damage during transportation. Installation Use screws that meet the specifications to fix the lidar base, and make sure the base has good heat dissipation. -
Page 36: Appendix B. Troubleshooting
MS06-B Appendix B. Troubleshooting For any of the following problems during the use of the lidar, please refer to the corresponding solutions for troubleshooting. If you are unable to implement the following steps, or if you are still unable to solve the problem after implementing the steps, please contact our technical support. - Page 37 MS06-B alignment) ⚫ whether the network is blocked by other devices transmitting data Confirm: Error occurs when the graphics card is used correctly, discrete graphics card ⚫ running the Windows is recommended Client, interface the graphics card meets the minimum configuration ⚫...
- Page 38 Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2023-05-15 Initial Version LS1286 V1.0.1 2023-11-07 Specifications modified LS1499 V1.0.2 2024-04-16 Specifications modified LS1499 *This product information is subject to change without notice. Copyright ©2024 LeiShen Intelligent System Co., Ltd. All rights reserved.
- Page 39 Make Safer Driving Smarter Machine and Better Life ! Official Website: https:/ /www.lslidar.com Sales: sales@lslidar.com After-Sales: support@lslidar.com...
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