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RoboSense RS-LiDAR-M1P User Manual

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RS-LiDAR-M1P User Guide
* 【
Executive Standard
】 Q/RS 001-2021

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Summary of Contents for RoboSense RS-LiDAR-M1P

  • Page 1 RS-LiDAR-M1P User Guide * 【 Executive Standard 】 Q/RS 001-2021...
  • Page 2 RS-LiDAR-M1P User Guide Revision History Revision Content Date Edited by 1.0.0 Initial issue 2022-04-18 Revise some description error 1.1.0 Update Appendix C Dimension 2022-07-01 Update the priority for packet recording tool 1.2.0 Revise Chapter 1 some description error 2022-09-05 Revise Chapter 2 Communication Protocol, IP and Port；...

  • Page 3: Table Of Contents

    RS-LiDAR-M1P User Guide Table of Contents 1 Product Specifications ....................... 1 2 Communication Protocol ......................3 2.1 Main Data Stream Output Protocol (MSOP) ..............4 2.2 LiDAR Information Output Protocol (DIFOP) ..............10 3 Interface Box Connection and State Machine ..............12 3.1 The Instruction of Wiring Harness ...................

  • Page 4: Product Specifications

    The precision value is applicable to most channels, but difference may exist between some channels. The five channels of RS-LiDAR-M1P are horizontally arranged, with staggered positions vertically; The maximum envelope vertical FOV of a single channel is 25.2 °; Since the FOV of five channels are present irregularly, based on the maximum envelope principle, the vertical FOV will be calculated as 35.79 °；...
  • Page 5 RS-LiDAR-M1P User Guide  Power consumption: 15w  Working voltage: 9~16VDC Weight: about 0.75kg (not including data cable)   Dimensions: Length 110mm * Width 111mm * Height Mechanical/electroni 45mm c operation  Protection level: IP67, IP6K9K  Operating temperature range: -40°C~85°C(Forced convection is required for long hours of work) ...

  • Page 6: Communication Protocol

    58.2 Mbps. In dual return mode, the rate must be no less than 116.4 Mbps. RS-LiDAR-M1P network parameters are configurable, and the factory default IP and fixed client port number are set as listed in the table below:...

  • Page 7: Main Data Stream Output Protocol (Msop)

    RS-LiDAR-M1P User Guide Protocol data LiDAR Information Output Output device DIFOP 256 Bytes Protocol information Note: The following chapters describe and define the payload (MSOP package of 1210 bytes and DIFOP package of 256 bytes) of the protocols. 2.1 Main Data Stream Output Protocol (MSOP) Main data Stream Output Protocol is abbreviated as MSOP.
  • Page 8 RS-LiDAR-M1P User Guide Figure 1: MSOP Packet Structure 2.1.1 Header The header is 32-byte long, and is used for identification of the starting position of data, packet counting, UDP communication reservation, and time stamp storage. The detailed definition is as follows: Table 4: MSOP Header Header（32 Bytes...
  • Page 9 RS-LiDAR-M1P User Guide value is 0, mems temperature is -80℃; when the value is 255, the temperature is 175℃. 2.1.2 Data Packet The data packet in the MSOP packet stores the data measured by the LiDAR. It has a total of 1175 bytes consisting of 25 data blocks, each data block has 47 bytes.
  • Page 10 RS-LiDAR-M1P User Guide Reflection intensity value of the channel 1 ch1_intensity points, the value range is 0~255 resev. Reserved bits In the polar coordinate system, the radial ch2_radius distance value of the channel 2 points, the distance resolution is 5mm...
  • Page 11 RS-LiDAR-M1P User Guide In the polar coordinate system, the vertical ch5_elevation angle of the channel 5 points, the resolution is 0.01° In the polar coordinate system, the horizontal ch5_azimuth angle of the channel 5 points, the resolution is 0.01° Reflection intensity value of the channel 5...
  • Page 12 Therefore, the radial distance of this channel in the corresponding elevation and azimuth direction is 5.1 m. Calculation of XYZ coordinates: Use Wireshark to capture the data packets of RS-LiDAR-M1P, as shown in the figure below: Example of parameters calculation: 1. time_offset: data block time offset HEX: 0x00 -> DEC: 00 -> 0 ㎲...

  • Page 13: Lidar Information Output Protocol (Difop)

    RS-LiDAR-M1P User Guide -> radius = (10 x256 + 119) x0.005 [m] = 13.395 m 4. elevation: vertical angle HEX: 0x83,0xa2 -> DEC: 131,162 -> elevation = ((131 x 256 + 162)-32768) x 0.01[degree] = 9.3 5. azimuth: horizontal angle HEX: 0x94,0xdf -> DEC: 148,223 ->...
  • Page 14 RS-LiDAR-M1P User Guide DIFOP 256Byte Catalogu Type Details Offset Byte Header DIFOP_Header DIFOP_Header Reserve Frequency Frequecy_Setting Source_IP Destination_IP Ethernet MAC_Address MSOP_Port DIFOP_Port Mian_Board_PL_PN Main_Board_PS_PN Data Reserve Wave Return_Mode Timesync_Mode Time Timesync_Status Time_Status Volt Battery_Volt Reserve Diagnosis Lidar fault status Reserve Note: 1.

  • Page 15: Interface Box Connection And State Machine

    RS-LiDAR-M1P User Guide 3 Interface Box Connection and State Machine 3.1 The Instruction of Wiring Harness Item Photograph Terminal Signal Type 1000Base T1 1000Base T1 Wakeup Battery+ Terminal：a Auto- motive Ethernet Power Wakeup Harness Battery+ Terminal：b 1000Base T1 1000Base T1 Terminal：c...
  • Page 16 RS-LiDAR-M1P User Guide AC Power Power (female) Harness AC Power (male) Power Adaptor Interface Box Power Supply Interface Box Gigabit Gigabit Ethernet Ethernet Cable ·...

  • Page 17: The Connection Of Interface Box

    RS-LiDAR-M1P User Guide 3.2 The Connection of Interface Box TE Connector: Interface box ： Power Adaptor Ehternet Figure 2: Image for topology of LiDAR and PC Note： Figure 2 shows the topology of connection of Interface Box (TE). Connection Interface Box (TE)

  • Page 18: State Machine Of Lidar

    RS-LiDAR-M1P User Guide Connecting to Power Adaptor and Host Computer 3.3 State Machine of LiDAR Wakeup I/O Definition Wakeup I/O Voltage Item Note Range Wakeup I/O High 7V~16V DC High-Level signal Wakeup I/O Low 0V~2V DC Low-Level signal ·...

  • Page 19: Time Synchronization

    E2E mode: apply Request Response Mechanism P2P mode: apply a peer delay mechanism (Peer Delay Mechanism). Note: The PTP protocol provided by RoboSense only supports the L2 layer of Ethernet protocol, E2E mode. gPTP (general precise time protocol) is a derivative protocol of PTP in Time-Sensitive Networking.

  • Page 20: Use Linuxptp Tool To Verify Time Synchronization

    Users need to purchase that by themselves in advance; 2. As a Slave terminal, RS-LiDAR-M1P only obtains the time from gPTP Grand Master device with no hesitation about the accuracy of the master clock by principle. If the timestamp of LiDAR point cloud deviates from the real-time, please check whether gPTP Grand Master clock is accurate;...
  • Page 21 RS-LiDAR-M1P User Guide card is enp2s0 below. Figure 4: Find network card name 2. Use the command $ethtool - T enp2s0 (network card’s name) to check whether the network card supports PTP hardware. For gPTP synchronization, hardware support is required, PTP Hardware Clock should not be none.
  • Page 22 Do not print messages to syslog Print software version and exit Help command Use command to synchronize RS-LiDAR-M1P: (1) PTP E2E (L2 layer) command: $sudo ptp4l -E -S -2 -m -i enp2s0 (network card name) If PTP Hardware Clock is not none (hardware supported), you can use -H instead of -S...

  • Page 23: Gps Time Synchronization

    1 4.3 GPS Time Synchronization In case that users would like to synchronize RS-LiDAR-M1P with GPS module, it is necessary for gPTP Grand Master to receive GPS timing service at first. Please consult gPTP Grand Master device provider for the specific connectors and GPS timing service guidance.
  • Page 24 RS-LiDAR-M1P User Guide Figure 6: Topology of GPS Timing service synchronization ·...

  • Page 25: Appendix A Rsview

    The original sensor data can be also captured and examined by using other free of charge tools, such as Wireshark or tcp-dump. But visualization of the 3D data through using RSView is easy to realize. User may contact RoboSense technical support for the specific RSview Version.

  • Page 26: Visualization Of Point Cloud

    Fig A-1：Open the Sensor Stream in RSView. 4. After finishing the above 3 steps, the dialogue box “Sensor Type and Configuration” shows up. Please Choose RSM1 in the Drop-Down menu to fit RS-LiDAR-M1P. In this dialogue box, the Sensor Calibration default contains the configuration folder named MEMSCorrectionFile_3V, directly click Add and then click the OK button (as shown in Fig A-2).
  • Page 27 RS-LiDAR-M1P User Guide Figure A-2：Select the parameter configuration file of RS-LiDAR- M1 5. Check the MSOP and DIFOP port number: Sensor Network Configuration, input the correct MSOP and DIFOP port number Figure A-3: RSView data port setting 6. RSView begins displaying the colored point cloud from capturing the sensor data stream from LiDAR (as shown in Fig.

  • Page 28: Save Streaming Sensor Data Into Pcap File

    RS-LiDAR-M1P User Guide Figure A-4：RS-LiDAR-M1P Sensor Stream display 7. If there is no point cloud display, please click Tools and check if the MSOP and DIFOP port number are correctly set in the Data Port Setting window. A.5 Save Streaming Sensor Data into PCAP File Use Wireshark as the packet recording tool: Download and install the wireshark software.
  • Page 29 RS-LiDAR-M1P User Guide Figure A-6：Start Wireshark 3. If the figure below shows up, the connection to the LiDAR is normal. The data in the red boxes represent "LiDAR IP", "PC IP", "MSOP port number", and "DIFOP packet port number" respectively.
  • Page 30 RS-LiDAR-M1P User Guide Figure A-8：Wireshark data saving 5. Enter the file name in the pop-up dialog box and select .pcap as the data format to save. Figure A-9：Wireshark data saving 6. Now, the corresponding files can be found in the specified folder directory and you can use the RSView software or driver to view the point cloud (please refer to the product user ·...

  • Page 31: Replay Recorded Sensor Data From Pcap Files

    RS-LiDAR-M1P User Guide manual for the RSView operation guide). Figure A-10 Wireshark data saving A.6 Replay Recorded Sensor Data from PCAP Files The pcap file can be replayed or examined through RSView. User can press the Play button to play or pause the data play, and can also scrub the time slider to check the data at a certain time point.
  • Page 32 Figure A-12 Import PCAP File 3. In the dialogue box Sensor Type and Configuration, add and select the right configuration file of RS-LiDAR-M1P, then click OK button. Then input the correct MSOP and DIFOP port in the dialogue box PCAP Network Configuration 4.
  • Page 33 RS-LiDAR-M1P User Guide Figure A-15 RSView Spreadsheet display 7. Click Show only selected elements in the spreadsheet, only the data of selected points will be displayed. If no point is selected, there will be no data shown in table (Fig.
  • Page 34 RS-LiDAR-M1P User Guide Figure A-17 RSView Select All Points tool 9. In the 3D point cloud display space, use the mouse to draw a rectangle to frame some data points. The data of these points will be displayed in the Spreadsheet and these points will turn pink in the point cloud display space (Figure A-18).

  • Page 35: Appendix B Driver & Sdk

    RS-LiDAR-M1P User Guide Appendix B Driver & SDK To download the latest version and guidebook of RS-LiDAR-M1P Driver & SDK, Please refer to the following link: https://github.com/RoboSense-LiDAR/rslidar_sdk ·...

  • Page 36: Appendix C Dimension

    RS-LiDAR-M1P User Guide Appendix C Dimension Drawing of LiDAR with TE Connector: ·...
  • Page 37 RS-LiDAR-M1P User Guide Definition of TE-Pins: ·...
  • Page 38 RS-LiDAR-M1P User Guide ·...

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