LSLIDAR CH128X1 - Table of Contents

TABLE OF CONTENTS
1. PRODUCT PROFILE .......................................................................................................................... 1
1.1 OVERVIEW ........................................................................................................................................... 1
1.2 MECHANISM ........................................................................................................................................ 1
1.3 SPECIFICATION ..................................................................................................................................... 1
1.4 DIMENSIONS ........................................................................................................................................ 2
2. ELECTRICAL INTERFACE ................................................................................................................. 4
2.1 POWER SUPPLY .................................................................................................................................... 4
2.2 ELECTRICAL INTERFACE ....................................................................................................................... 5
3. GET READY ........................................................................................................................................ 8
3.1 LIDAR CONNECTION ............................................................................................................................ 8
3.2 SOFTWARE PREPARATION ................................................................................................................... 8
4. USAGE GUIDE ................................................................................................................................... 9
4.1 OPERATION UNDER WINDOWS OS ................................................................................................... 9
4.1.1 Lidar Configuration ............................................................................................................. 9
4.1.2 Windows Client Interface ................................................................................................ 10
4.1.3 Operation Procedure ........................................................................................................ 13
4.1.4 Point Cloud Data Parsing ................................................................................................. 14
4.1.5 Note .................................................................................................................................... 14
4.2 ROS DRIVER OPERATION UNDER LINUX OS ................................................................................... 18
4.2.1 Hardware Connection and Test ....................................................................................... 18
4.2.2 Software Operation Example .......................................................................................... 19
5. COMMUNICATION PROTOCOL................................................................................................... 20
5.1 MSOP PROTOCOL ............................................................................................................................ 20
5.1.1 Format ................................................................................................................................ 21
5.1.2 Data Package Parameter Description ............................................................................. 22
5.2 DIFOP PROTOCOL ............................................................................................................................ 26
5.3 UCWP PROTOCOL ............................................................................................................................ 27
5.3.1 Configuration Parameters and Status Description........................................................ 28