Main Data Stream Output Protocol (Msop) - RoboSense Ruby Plus User Manual

Ruby Plus User Guide
The UDP packets sent by Ruby Plus have a payload of 1248 bytes. The data structure
for the Main Data Stream Output Protocol (MSOP) and Device Information Output
Protocol (DIFOP) is shown in Figure 14 .
Figure 14 LiDAR Data Structure Illustration
4.4.2

Main Data Stream Output Protocol (MSOP)

Main Data Stream Output Protocol, abbreviated as MSOP, is used for product output
and computer parsing. The default port number is 6699.
4.4.2.1 Header
The header consists of 42 bytes and is used to identify the start of the data. The data
structure details are shown in Table 12.
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