RoboSense LiDAR RS-Helios-16P - Communication Protocol; Protocol Overview (MSOP & DIFOP); MSOP and DIFOP Packet Structures

RS-Helios-16P User Manual
17
6 Communication Protocol
The communication between RS-Helios-16P and computer is through Ethernet and by sending UDP
packets. There are mainly two types of communication protocols, as shown in the following table:
Table 8 Communication Protocols
Protocol
Abbreviation
Function
Type
Packet Size
Main data Stream
Output Protocol
MSOP
Output measured
data
UDP
1248 bytes
Device Information
Output Protocol
DIFOP
Output sensor
information
UDP
1248 bytes
Note: The following sections describe and define the valid payload (1248byte) of the protocols.
1) The main data stream output protocol MSOP, encapsulates the distance, angle, reflectivity and other
information measured by the LiDAR into an UDP packet and outputs to the computer;
2) Device information output protocol DIFOP, outputs various configuration information of the current state
LiDAR to the computer;
6.1 MSOP and DIFOP
The UDP packet sent by RS-Helios-16P has a payload of 1248 bytes, the data structure of the main
data stream output protocol (MSOP) and device information output protocol (DIFOP) is as shown
in the figure below:
Figure 11 UDP Packet Structure