RS-LiDAR-16 User Manual
5 Communications Protocols
RS-LiDAR-16 adopts UDP protocol and communicates with computer through 100Mbps Ethernet.
There two different kinds of UDP output packets: MSOP packets and DIFOP packets. The UDP protocol
packet in this manual is of 1290 byte long, and consists of a 1248-bytes- payload and a 42-byte header.
The IP address and port number of RS-LiDAR-16 is set in the factory as shown in the Table 2, but can
be changed by the user as needed.
Table 2: The IP Address and Port Number Set at the Factory.
The default MAC Address of each RS-LiDAR-16 is set in the factory. The MAC Address can be changed
as needed.
To establish communication between a sensor and a computer, the IP address of the computer should
be set at the same network segment of that of the sensor. By default: 192.168.1.X (X can be taken by a
value from 1~254), subnet mask: 255.255.255.0. In case of uncertainty about the internet setting of the
sensor, please connect the sensor to the computer, and parse packet to get the IP and port through
Wireshark.
RS-LiDAR-16 adopts 3 kinds of communications protocols to establish communication with the
computer:
MSOP (Main Data Stream Output Protocol). Distance, azimuth and reflectivity data
collected by the sensor are packed and output to computer.
DIFOP (Device Information Output Protocol). Monitor the current configuration information
of the sensor.
UCWP (User Configuration Write Protocol). User can modify some parameters of the
sensor as needed.
Table 3: Protocols Adopted by RS-LiDAR-16.
Note
：
The following section describes and defines the valid payload (1248 byte) of the UDP protocol packet.
Main Data Stream Output Protocol
Device Information Output Protocol
Device Information Output
User Configuration Write Protocol
Sensor Parameters Setting
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