RoboSense LiDAR Helios-16P User Manual

RS-Helios-16P User Manual
IV
B.1 Motor Speed (MOT_SPD) ....................................................................................................................... 36
B.2 Ethernet（ETH） ...................................................................................................................................... 36
B.3 FOV Setting（FOV_SET）....................................................................................................................... 37
B.4 Motor Phase Offset (MOT_PHASE) ..................................................................................................... 37
B.5 Top Board Firmware Version (TOP_FRM) .................................................................................... 37
B.6 Bottom Board Firmware Version(BOT_FRM) ............................................................................. 38
B.7 Motor Firmware Version(MOT_FRM) ............................................................................................ 38
B.8 Software Version(SOF_FRM) .............................................................................................................. 38
B.9 Corrected Vertical Angle(COR_VERT_ANG) ...................................................................................... 38
B.10 Corrected Horizontal Angle(COR_HOR_ANG） ............................................................................ 40
B.11 Serial Number(SN） .............................................................................................................................. 40
B.12 Software Version（SOFTWARE_VER） ........................................................................................... 41
B.13 UTC Time（UTC_TIME） ..................................................................................................................... 41
B.14 STATUS（STATUS） ................................................................................................................................ 41
B.15 Fault Diagnosis（FALT_DIGS） .......................................................................................................... 42
B.16 GPRMC Data Packet-ASCII Code Data Type .................................................................................... 43
Appendix C RSView .................................................................................................................................................... 44
C.1 Software Features ..................................................................................................................................... 44
C.2 Install RSView ............................................................................................................................................. 44
C.3 Set Up Network .......................................................................................................................................... 45
C.4 Visualize Streaming Sensor Data .......................................................................................................... 45
C.5 Capture Streaming RS-Helios-16P Data to PCAP File .................................................................... 46
C.6 Replay Captured Data from PCAP File ................................................................................................ 47
C.7 Set RSView Data Port ............................................................................................................................... 50
Appendix D RS-Helios-16P ROS&ROS2 Package ............................................................................................... 51
D.1 Install Software .......................................................................................................................................... 51
D.2 Download & Compile RoboSense LiDAR Driver Package ............................................................. 51
D.3 Configure PC IP .......................................................................................................................................... 52
D.4 Real Time Display ...................................................................................................................................... 52
D.5 View Offline Data ...................................................................................................................................... 53
Appendix E Mechanical Drawings ......................................................................................................................... 54
Appendix F Sensor Cleaning ................................................................................................................................... 55
F.1 Attention ....................................................................................................................................................... 55
F.2 Required Materials .................................................................................................................................... 55
F.3 Cleaning Method ........................................................................................................................................ 55

RoboSense LiDAR Helios-16P Specifications

General

Brand	RoboSense
Model	LiDAR Helios-16P
Category	Robotics
Language	English