RoboSense RS-LiDAR-32 - Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets

RS-LiDAR-32 User Manual
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3. We can modify the parameters to the ones we want to have, then click Set LiDAR. We need
re-power and connect the RS-LiDAR-32 to make the modified parameters valid. After the device
connecting again, we can use RSView to see the RS-LiDAR Information again to check if the
modification take effect.
Figure C-15: Set LiDAR information.
Attention 1: Please do not power off the sensor when we are setting LiDAR information, it may cause
the sensor internal parameters broken.
Attention 2: if we modify the MSOP Port or DIFOP parameters above, we need setting the RSView
MSOP Port and DIFOP Port according to C.8 section to make RS-LiDAR-32 can be connected correctly.
C.8 RSView Data Port
In the RS-LiDAR-32 factory firmware, the default MSOP port is 6699, the default DIFOP port is 7788, if
we change the RS-LiDAR-32 ports number by modify the 2 parameters in C.7 section, we need
configure the RSView Data Port first or we will see nothing in the RSView. If we do not know the
RS-LiDAR-32 ports configuration, we can use Wireshark to capture the packets to check the Dst Port.
Click Tools > Data Port, enter the real MSOP port and DIFOP port of RS-LiDAR-32, then click Set Data
Port. After that we can see the cloud point data again in the RSView.