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Note 1): If the Lidar destination port and motor speed are modified, please open
“lslidar_ch.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 data detected by the Lidar
In the “Displays Window” that pops up, modify the value of "Fixed Frame" to
“laser_link”. Click the “Add” button at the same time, and click “PointCloud2”
under “By topic” to add a multi-line point cloud node.
5. Communication Protocol
Lidar data output and configuration use Gigabit Ethernet UDP/IP
communication protocol. There are 3 UDP packet protocols, and the packet
length is 1248 bytes (42 bytes Ethernet header and 1206 bytes payload).
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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