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LiDAR RS-Bpearl
RoboSense LiDAR RS-Bpearl - User Manual
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RS-Bpearl
User
manual
2
Table of Contents
Main Page
Table of Contents
4
Safety Notices
7
Product Appearance and Interface
8
Product Appearance
8
Aviation Plug and Pin Definition
8
Interface Box
9
Unboxing & Installation
11
Standard Package
11
Sensor Mounting
11
Quick Connection
12
Sensor Specifications and Features
14
Sensor Specification
14
Point Cloud Display
15
Coordinate Mapping
15
Reflectivity
16
Laser Return Modes
17
Principle of Laser Return Modes
17
Return Mode Flag
17
Phase Locking
18
Time Synchronization
18
GPS Time Synchronization
19
The Use of GPS for Time Synchronization
19
PTP Time Synchronization
20
PTP Wiring Diagram (Valid for RS-Bpearl 3.0)
20
Time Calculation
21
Communication Protocols
23
MSOP and DIFOP
23
Main Data Stream Output Protocol（Msop
25
Header
25
Data Blocks
27
Tail
29
Device Info Output Protocol（Difop
29
User Configuration Write Protocol
33
Vertical Angles and Exact Point Time Calculation
36
Channel Number and Vertical Angles
36
Exact Point Time Calculation
36
Exact Point Time Calculation in Single Return Mode
36
Exact Point Time Calculation in Dual Return Mode
38
Trouble Shooting
40
Appendix A Web Interface
42
Device Information Screen
42
Device Parameter Setting Screen
43
Device Diagnostics/Operation Status Screen
44
Device/System Update Screen
45
Appendix B Information Registers
48
Motor Speed (MOT_SPD)
48
Ethernet(Eth)
48
FOV Setting(FOV_SET)
49
TCP MSOP Port Number
49
Motor Phase Offset(MOT_PHASE)
49
Bottom Board Firmware Version(BOT_FRM)
50
Top Board Firmware Version(TOP_FRM)
50
Software Version(SOF_FRM)
51
Time Synchronization
51
Motor Firmware Version(MOT_FRM)
51
UTC Time(UTC_TIME)
52
Operation Status(STATUS)
54
Operation Status (Valid for RS-Bpearl 2.0)
54
Operation Status (Valid for RS-Bpearl 3.0)
55
Fault Diagnosis (FALT_DIGS)
56
Fault Diagnosis(Valid for RS-Bpearl 2.0)
56
Fault Diagnosis(Valid for RS-Bpearl 3.0)
58
ASCII Code in GPRMC Packet
60
Corrected Vertical Angle(COR_VERT_ANG)
60
Corrected Horizontal Angle(COR_HOR_ANG)
62
Appendix C Rsview
64
Software Features
64
Install Rsview
64
Set up Network
64
Visualize Streaming Sensor Data
65
Capture Streaming Sensor Data to PCAP File
66
Replay Captured Sensor Data from PCAP File
67
Configure Lidar Parameters with Rsview
70
Online Firmware Update with Rsview
72
Fault Diagnosis with Rsview
73
Appendix D RS-Bpearl ROS&ROS2 Package
75
Install Software
75
Download & Compile Robosense Lidar Driver Package
75
Configure PC IP
76
Real Time Display
76
View Offline Data
77
Appendix E Mechanical Drawings
79
Appendix F Sensor Mounting
80
Appendix G Obtain MSOP and DIFOP Port Number from Data Packets
81
Appemdix H Sensor Cleaning
82
Required Materials
82
Attention
82
Cleaning Method
82
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RoboSense LiDAR RS-Bpearl Specifications
General
Brand
RoboSense
Model
LiDAR RS-Bpearl
Category
Measuring Instruments
Language
English
Need help?
General
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