RoboSense RS-Bpearl

RoboSense RS-Bpearl

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21

RS-Bpearl User Manual

31

7.9375

0

32

2.3125

0

Every sequence of 32 laser firings consumes 55.5us.

Table of Contents

Default Chapter2
- Revision History2
- Table of Contents4
1 Safety Notice6
2 Introduction7
3 Product Specifications8
4 Interface9
- Power Supply9
- Data Output Interface of Lidar9
- Interface Box9
- Connection of Interface Box11
5 Communication Protocol12
- Msop12
- Difop17
- Ucwp18
6 GPS Synchronization21
- GPS Synchronization Theory21
- GPS Usage21
7 Key Characteristic22
- Return Mode22
- Phase Lock23
8 Point Cloud24
- Coordinating Mapping24
9 Definition of Vertical Angles25
10 Reflectivity27
11 Troubleshooting28
Appendix A Point Time Calculate29
- RS-Bpearl Calculation of Time Stamp in Single Mode29
- RS-Bpearl Calculation of Time Stamp in Dual Mode31
Appendix B Information Registers33
- Motor(Mot_Spd)33
- Ethernet(Eth)33
- FOV Setting (FOV SET)34
- Motor Phase Offset (MOT_PHASE)34
- Top Board Firmware (TOP_FRM)34
- Bottom Board Firmware (BOT_FRM)35
- Serial Number(SN)35
- Software Version(SOFTWARE_VER)35
- UTC Time(UTC_TIME)35
- Status36
- Fault Diagnosis37
- ASCII Code in GPRMC Packet38
- Corrected Vertical Angle (COR_VERT_ANG)38
- Corrected Horizontal Offset Angle (COR_HOR_ANG)39
Appendix C Rsview40
- Software Features40
- Installation of Rsview40
- Network Setup40
- Visualization of Point Cloud40
- Save Streaming Sensor Data into PCAP File42
- Replay Recorded Sensor Data from PCAP Files42
- RS-Bpearl Factory Firmware Parameters Setting44
- Setting Rsview Data Port46
- Firmware Update Online46
- Troubleshooting by Fault Diagnosis47
Appendix D RS-Bpearl ROS Package49
- Software Installation49
- Compile RS-Bpearl ROS Package49
- Configure PC IP Address49
- Display of the Real-Time Data49
- Offline Display the Recorded PCAP File50
Appendix E Dimension52
Appendix F Suggestion of Mechanical Lidar Mount53
Appendix G Seek MSOP and DIFOP Port Number54
Appendix H Clean of Lidar55
- Attention55
- Required Materials55
- Clean Method55