LSLIDAR C32 - Table of Contents

Table of Contents
1. PRODUCT PROFILE .................................................................................................. 1
1.1 OVERVIEW ................................................................................................................ 1
1.2 MECHANISM ............................................................................................................. 1
1.3 SPECIFICATIONS ........................................................................................................ 1
1.4 MECHANICAL STRUCTURE ........................................................................................ 2
1.5 LIGHT SPOT............................................................................................................... 4
2. ELECTRICAL INTERFACE ......................................................................................... 5
2.1 POWER SUPPLY......................................................................................................... 5
2.2 CONNECTORS ........................................................................................................... 6
3. GET READY ............................................................................................................... 10
3.1 LIDAR CONNECTION ............................................................................................... 10
3.2 SOFTWARE PREPARATION ...................................................................................... 10
4. USAGE GUIDE .......................................................................................................... 11
4.1 OPERATION UNDER WINDOWS OS ...................................................................... 12
4.1.1 Lidar Configuration ...................................................................................... 12
4.1.2 Windows Client Interface .......................................................................... 13
4.1.3 Operation Procedure .................................................................................. 15
4.1.4 Point Cloud Data Parsing ........................................................................... 15
4.1.5 Parameter Config Example of Lidar Network Communication Mode
................................................................................................................................... 16
4.1.6 Note ................................................................................................................ 18
4.2 ROS DRIVER OPERATION UNDER LINUX OS ........................................................ 21
4.2.1 Hardware Connection and Test ................................................................ 21
4.2.2 Software Operation Example .................................................................... 22
5. COMMUNICATION PROTOCOL ......................................................................... 23
5.1 MSOP PROTOCOL ................................................................................................. 24
5.1.1 Format ............................................................................................................ 24
5.1.2 Data Package Parameter Description ...................................................... 25
5.2 DIFOP PROTOCOL................................................................................................. 27