RoboSense RS-LiDAR-16 - 5.1 MSOP Packet Structure

RS-LiDAR-16 User Manual
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5.1 MSOP
I/O type: device output data, computer parse data.
Default port number is 6699.
MSOP outputs data information of the 3D environment in packets. Each MSOP packet is 1248 bytes
long and consists of reported distance, calibrated reflectivity values, azimuth values and a time stamp.
Each RS-LiDAR-16 MSOP packet payload is 1248 byte long and consists of a 42-byte header and a
1200-byte data field containing twelve blocks of 100-byte data records and a 6-byte tail.
The basic data structure of a MSOP packet for single return is as shown in Figure 7.
Figure 7: Single Return MSOP Packet.
channel data 16
channel data 16
channel data 16
channel data 32
channel data ...
channel data 17
channel data 17
channel data ...
channel data 32
channel data 17
channel data ...
channel data 32
42 bytes
data packet
12 * 100 bytes = 1200 bytes
MSOP Packet (1248 bytes)
6 bytes
42 bytes
(21
st
~30
th
byte is
time
stamp)
Header
Tail
4 bytes
resv. + 2
bytes
(0x00,
0xFF)
channel data 1
channel data 2
0xffee
Data block 1
Azimuth 1
channel data ...
channel data 16
channel data 1
channel data 2
0xffee
Data block 2
Azimuth 2
channel data ...
channel data 1
channel data 2
0xffee
Data block n
Azimuth n
channel data ...
channel data 1
channel data 2
0xffee
Data block 12
Azimuth 12
channel data ...
channel data 17
channel data ...
channel data 32