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LSLIDAR LS25D User Manual

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LS25D
User Manual
V1.0.9
2023.11
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

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Summary of Contents for LSLIDAR LS25D

  • Page 1 LS25D User Manual V1.0.9 2023.11 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.

  • Page 4: Table Of Contents

    TABLE OF CONTENTS 1. PRODUCT PROFILE ....................... 1 1.1 O ..................................... 1 VERVIEW 1.2 M ....................................1 ECHANISM 1.3 S ..................................... 1 PECIFICATIONS 1.4 D ....................................2 IMENSIONS 2. ELECTRICAL INTERFACE...................... 4 2.1 P ....................................4 OWER UPPLY 2.2 W ..................................
  • Page 5 5.3.2 Configuration Package Example ..........................27 6. TIME SYNCHRONIZATION ....................28 6.1 GPS S ................................28 YNCHRONIZATION 6.2 PTP/ PTP S ..............................29 YNCHRONIZATION 6.3 L ................................30 IDAR NTERNAL IMING 7. ANGLE AND COORDINATE CALCULATION ..............32 APPENDIX A. MAINTENANCE ....................33 APPENDIX B.

  • Page 6: Product Profile

    1.2 Mechanism The LS25D lidar adopts the Time of Flight (ToF) method. The lidar starts timing ) when the laser pulses are sent out. And when the laser encounters the target object and the light returns to the sensor unit, the receiving end stops timing (t Distance = Speed of Light*(t –...

  • Page 7: Dimensions

    Weight ≤2 kg 1.4 Dimensions There are 4 mounting holes at the bottom of LS25D Lidar. Four M6 (hexagon socket head cap screws) mechanical screws with spring washers and flat washers are needed for locking and fixing the Lidar. Mounting requirements: (1) Mounting screws: 4*M6, hexagon socket head cap screws;...
  • Page 8 LS25D Figure 1.3 External View of LS25D Figure 1.4 Optical Centre of the LS25D Lidar...

  • Page 9: Electrical Interface

    Lidar may not be able to work normally. 2.2 Wiring Definition The cables connecting to the interfaces on the side of the LS25D lidar base are a 6-pin power cord and a 2-pin automotive ethernet cable, whose wiring definitions are as shown in the figures below.
  • Page 10 5.5*2.5 mm DC socket, an indicator light, a RJ45 network port and a 6-pin GPS port, as shown in Figure 2.3. Figure 2.3 Interface Box of LS25D The GPS socket of the Interface Box is the SM06B-SRSS-TB presented by the...
  • Page 11 LS25D JST Company, and the recommended plug interface for the external GPS module is JST's SHR-06V-S-B. The interface definition of the GPS is here below: Table 2.4 The Pin Definition of the GPS Function Definition Requirement TTL electrical level ranges from 3.3 V~ 12 V, the...

  • Page 12: Get Ready

    Note: Please remove the protective film on the optical window before use. 3.2 Software Preparation The LS25D 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 13 LS25D ⚫ Software Acquisition This LS25D Windows Client has been pre-stored in the USB flash drive provided along with the lidar. It can also be obtained from the sales or technical support personnel. No installation is required to the client.

  • Page 14: Usage Guide

    LS25D 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 15: Windows Client Interface

    LS25D 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 16 LS25D button and drag it up/down to zoom in/out; 2) Hold the left mouse button and drag it to adjust the angle of view; 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.

  • Page 17: Operation Procedure

    LS25D When paused, view the previous frame; When playing, rewind (click multiple times to select 2x, 3x, 1/2x, 1/4x and 1x speed) Click to start playing after the point cloud file is loaded When playing, click to pause When paused, view the next frame;...

  • Page 18: Point Cloud Data Parsing

    LS25D Step 3. The data table contains ID, Points_m_XYZ, Distance, Azimuth, Intensity, in which ID is the lidar channel number; Points_m_XYZ are the coordinates; Distance is the distance value; Azimuth is the azimuth angle; and Intensity is the reflection intensity.
  • Page 19 LS25D please create English paths when naming files and path folders. 3) Since the port number of the LS25D lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port. Therefore, when the local laptop or desktop...
  • Page 20 LS25D 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.

  • Page 21: Ros Driver Operation Under Linux Os

    LS25D Figure 4.6 Windows Defender Firewall Setting Computer graphics settings 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.

  • Page 22: Software Operation Example

    LS25D command, as shown in the figure, the destination IP is 192.168.1.102) 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 23 LS25D Step 2. Download the Lidar ROS driver 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...

  • Page 24: Communication Protocol

    The data of the package adopts Big-Endian mode. The LS25D lidar supports single echo mode which measures the most recent echo value. The data package includes a 42-byte Ethernet header and a 1206-byte payload, with a total length of 1248 bytes.

  • Page 25: Format

    LS25D 5.1.1 Format Each MSOP data packet contains 1206 bytes of data. Each packet of data contains 149 points, that is, 149*8=1192 bytes, and the frame tail is 14 bytes (including 2 bytes of package counter, 6 bytes of UTC Time or Unix Timestamp (unit: second), 4 bytes of Timestamp (unit: nanosecond) and 1 byte of lidar model and 1 byte of echo mode).
  • Page 26 LS25D Checksum, Source IP Address, Destination IP Address Lidar Port (0x0941, represent 2369) UDP Port Computer Port (0x0940, represent Number 2368) Length (0x04BE, represent 1214 UDP Length & bytes) Sum Check Sum Check Subframe The subframe is the effective data area of the data packet, which contains a total of 1192 bytes, including 149 points, that is, 149*8=1192 bytes.

  • Page 27: Difop Protocol

    LS25D as -90°, and the vertical direction as 0°, as shown in the figure below. The range of the lidar’s horizontal direction is -60° to 60°. Figure 5.1 The Azimuth of the Lidar Additional Information The additional information is 14 bytes in length, including 2 bytes of package counter, 6 bytes of UTC Time or Unix Timestamp (unit: second), 4 bytes of Timestamp (unit: nanosecond), 1 byte of lidar model and 1 byte of echo mode.
  • Page 28 LS25D Ethernet II Destination Source Ethernet Type Packet Type Version, Header Length, Differentiated Services, Field, Total Length, Identification, Flags, Internet Fragment Offset, Time to Live, Protocol Protocol, Header, Checksum, Source IP Address, Destination IP Address Lidar Port (0x0940, represents 2368)

  • Page 29: Ucwp Protocol

    LS25D Operating Time Below -40 °C Operating Time Below -10 °C Operating Time Below 30 °C Operating Time Below 70 °C Operating Time Below 100 °C Reserved 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 30: Configuration Parameters And Status Description

    LS25D Ethernet (Gateway, Subnet Mask) Reserved Device Flow Packet Interval Clock Source Select Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Frame Rate Reserved Phase Lock Switch Phase Lock Status Report Reserved Reserved Reserved Reserved...
  • Page 31 LS25D 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 32: Configuration Package Example

    LS25D 5.3.2 Configuration Package Example If you want to reset the lidar IP as 192.168.1.105, computer IP as 192.168.1.225, data port number as 6688, device port number as 8899, according to the definition of the UCWP Packet and each register, it can be reconfigured as follows: Table 5.4 Configuration Package Example...

  • Page 33: Time Synchronization

    $GPRMC of the GPS as the UTC output which is represented in both device packet and data packet. There are two types of LS25D lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard; the GPS_REC interface specification on the power box is SM06B-SRSS-TB.

  • Page 34: Ptp/Gptp Synchronization

    LS25D The default serial configuration baud rate of the GPS data output received by the lidar is 9600, 8N1. The PPS high pulse width is required to be more than 1 The standard format of GPRMC information is as follows: $GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>...

  • Page 35: Lidar Internal Timing

    LS25D Before synchronizing the lidar via PTP/gPTP, the time source needs to be set to “PTP” in the lidar's point cloud display software. The lidar can automatically identify PTP and gPTP packet types. The steps are as follows: open the point cloud display software, click on “Set Show”...
  • Page 36 LS25D synchronization, then the lidar will continue timing from the time of the interruption. When there is no other external clock source after-power on, the lidar will start internal timing and the timing value will be output as a timestamp of the data packet without UTC time reference.

  • Page 37: Angle And Coordinate Calculation

    LS25D 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 38: Appendix A. Maintenance

    LS25D 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 39: Appendix B. Troubleshooting

    LS25D 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 40 LS25D 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 41 Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2022-08-05 Initial Version LS1286 Data generating rate V1.0.1 2022-09-09 LS1286 modification Communication protocol V1.0.2 2022-10-21 LS1286 modification Specifications modified; lidar IP range requirements V1.0.3 2022-12-23 LS1286 added; 6.3 gPTP Synchronization added Specifications updated;...
  • Page 42 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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