RoboSense RS-LiDAR-32 LiDAR Sensor Manuals

Manuals and User Guides for RoboSense RS-LiDAR-32 LiDAR Sensor. We have 1 RoboSense RS-LiDAR-32 LiDAR Sensor manual available for free PDF download: User Manual

RoboSense RS-LiDAR-32 User Manual

RoboSense RS-LiDAR-32 User Manual (66 pages)

Brand: RoboSense | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
5
1 Safety Notices

9
2 Introduction

10
3 Product Specifications

11
- Product Format
  11
- Accuracy
  12
4 Connections

13
- Power
  13
- Electrical Configuration
  13
- Interface Box Description
  14
- Interface Box Connection
  16
5 Communications Protocols

17
- Msop
  18
  - Header
    19
  - Data Field
    20
  - Tail
    22
  - Demonstration Data
    22
- Difop
  24
- Ucwp
  25
6 GPS Synchronization

28
- GPS Synchronization Theory
  28
- GPS Usage
  28
7 Key Features

30
- Return Mode
  30
  - Return Mode Principle
    30
  - The Strongest Return
    30
  - Strongest, Last and Dual Returns
    30
  - Return Mode Flag
    30
- Phase Lock
  31
8 Point Cloud

32
- Coordinate Mapping
  32
- Point Cloud Presentation
  32
9 Laser Channels and Vertical Angles

34
10 Calibrated Reflectivity

36
11 Troubleshooting

38
Appendix A ▪ Point Time Calculate

40
Appendix B ▪ Information Registers

41
- Motor(Mot_Spd)
  41
- Ethernet(Eth)
  41
- FOV Setting (FOV SET)
  42
- Motor Phase Offset (MOT_PHASE)
  42
- Top Board Firmware (TOP_FRM)
  42
- Bottom Board Firmware (BOT_FRM)
  43
- Corrected Vertical Angle (COR_VERT_ANG)
  43
- Serial Number(SN)
  44
- Software Version(SOFTWARE_VER)
  44
- UTC Time(UTC_TIME)
  44
- Status
  46
- Fault Diagnosis
  47
- ASCII Code in GPRMC Packet
  48
Appendix C ▪ Rsview

49
- Features
  49
- Install Rsview
  49
- Set up Network
  49
- Visualize Streaming Sensor Data
  50
- Capture Streaming Sensor Data to PCAP File
  51
- Replay Captured Sensor Data from PCAP File
  52
- RS-Lidar-16 Factory Firmware Parameters Setting
  54
- Rsview Data Port
  56
- Firmware Online Update
  56
- Fault Diagnosis
  57
Appendix D ▪ RS-Lidar-16 ROS Package

59
- Prerequisite
  59
- Install RS-Lidar-16 ROS Package
  59
- Configure PC IP Address
  59
- View the Real Time Data
  59
- View the Recorded Pcap File Offline
  60
Appendix E ▪ Dimensions

62
Appendix F ▪ Lidar Mechanical Installation Suggestion

63
Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets

64
Appendix H ▪ Sensor Clean

65
- Attention
  65
- Require Materials
  65
- Clean Method
  65

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