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Note 1): If the lidar destination port and motor speed are modified, please open
“lslidar_c32.launch” to modify the configuration accordingly. The default data
packet port is 2368, device packet port is 2369, IP address is 192.168.1.200.
Note 2): If timeout appears, it means that the driver has no data reception. Please
check the hardware connection.
Note 3): If steps 1, 2, and 3 have been completed, next time after the “Displays
Window” is reopened, start directly from Step 4.
Step 5. Display the lidar’s point cloud data
Check the point cloud data in the pop-up RVIZ window.
Step 6. Modify configuration
You can modify the configuration parameters in the launch file. For specific
parameter descriptions, see the decompressed README.md document.
5. Communication Protocol
The data output and configuration of the lidar are through Fast Ethernet UDP/IP
communication protocol. There are 3 UDP packet protocols, among which
MOSP packet length is 1254 bytes (42 bytes Ethernet header and 1212 bytes
payload). DIFOP and UCWP are 1248 bytes (42 bytes Ethernet header and 1206
bytes payload) lidar supports unicast, broadcast and multicast communication.
The communication protocols of the lidar are:
Main data Stream Output Protocol (MSOP): outputting the distance, angle,
intensity and other information measured by the lidar;
Device Information Output Protocol (DIFOP): outputting the current status of
lidar and accessory equipment and various configuration information;
User Configuration Write Protocol (UCWP): setting the configuration
parameters of the lidar.
Table 5.1 UDP Packet Protocol
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