Installing Rsview; Using Rsview; Communication Protocols; Msop And Difop Data Protocols - RoboSense Ruby Plus User Manual

10) Clipping display.
4.3.2

Installing RSView

RSView can be run on Windows 64-bit and Ubuntu 18.04 or higher operating systems.
You can download the latest version of RSView software compressed package from
the Robosense official
downloading, make sure the extraction path does not contain Chinese characters. The
software does not require installation; simply run the executable file after extraction to
use it.
4.3.3

Using RSView

After opening RSView, you can access the user guide by pressing the F1 button or by
clicking on the "RS-LiDAR User Guide" option in the Help menu.
4.4

Communication Protocols

Ruby Plus communicates with a computer via Ethernet using UDP (User Datagram
Protocol). The communication protocols between Ruby Plus and the computer fall
into two categories, as described in Table 11.
Protocol Name
Main data Stream
Output Protocol
Device Information
Output Protocol
Note:
1)
Section 4.4 of the product manual describes and defines the payload (1248 bytes)
of the protocols.
2)
The Main Data Stream Output Protocol (MSOP) encapsulates the laser scanning data,
including distance, angle, and reflection intensity, into packets for output.
3)
The Device Information Output Protocol (DIFOP) outputs various configuration
information about the current state of Ruby Plus.
4.4.1

MSOP and DIFOP Data Protocols

website (http://www.robosense.cn/resources).
Table 11 Protocol Overview
Abbreviation Function
MSOP Point cloud data
LiDAR
DIFOP
information output
Ruby Plus User Guide
Type Packet Size
UDP 1248 bytes
UDP 1248 bytes
After
Send
Interval
Approx.
167 us
Approx.
1 s
29