RoboSense RS-LiDAR-16 - Page 35

RoboSense RS-LiDAR-16

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RS-LiDAR-16 User Manual

35

Every sequence of 16 laser firings consumes 55.5 μs.

12

+9

13

+7

14

+5

15

+3

16

+1

Table of Contents

Default Chapter5
- Table of Contents5
1 Safety Notices9
2 Introduction10
3 Product Specifications11
- Product Format11
- Accuracy12
4 Connections13
- Power13
- Electrical Configuration13
- Interface Box Description14
- Interface Box Connection16
5 Communications Protocols17
- Msop18
- Difop24
- Ucwp25
6 GPS Synchronization28
- GPS Synchronization Theory28
- GPS Usage28
7 Key Features30
- Return Mode30
- Phase Lock31
8 Point Cloud32
- Coordinate Mapping32
- Point Cloud Presentation32
9 Laser Channels and Vertical Angles34
10 Calibrated Reflectivity36
11 Troubleshooting38
Appendix A ▪ Point Time Calculate40
Appendix B ▪ Information Registers41
- Motor(Mot_Spd)41
- Ethernet(Eth)41
- FOV Setting (FOV SET)42
- Motor Phase Offset (MOT_PHASE)42
- Top Board Firmware (TOP_FRM)42
- Bottom Board Firmware (BOT_FRM)43
- Corrected Vertical Angle (COR_VERT_ANG)43
- Serial Number(SN)44
- Software Version(SOFTWARE_VER)44
- UTC Time(UTC_TIME)44
- Status46
- Fault Diagnosis47
- ASCII Code in GPRMC Packet48
Appendix C ▪ Rsview49
- Features49
- Install Rsview49
- Set up Network49
- Visualize Streaming Sensor Data50
- Capture Streaming Sensor Data to PCAP File51
- Replay Captured Sensor Data from PCAP File52
- RS-Lidar-16 Factory Firmware Parameters Setting54
- Rsview Data Port56
- Firmware Online Update56
- Fault Diagnosis57
Appendix D ▪ RS-Lidar-16 ROS Package59
- Prerequisite59
- Install RS-Lidar-16 ROS Package59
- Configure PC IP Address59
- View the Real Time Data59
- View the Recorded Pcap File Offline60
Appendix E ▪ Dimensions62
Appendix F ▪ Lidar Mechanical Installation Suggestion63
Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets64
Appendix H ▪ Sensor Clean65
- Attention65
- Require Materials65
- Clean Method65

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