RoboSense RS-LiDAR-M1 - LIDAR Information Output Protocol (DIFOP)

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RS-LiDAR-M1 User Guide
5. azimuth: horizontal angle HEX: 0x94,0xdf -> DEC: 148,223
-> azimuth = ((148 x 256 + 223)-32768) x 0.01[degree] = 53.43
o
The X, Y, Z coordinates of the point cloud can be calculated by the formula below:
ion)sin(evelat radius Z
h)sin(azimut ion)cos(evelat radius Y
h)cos(azimut ion)cos(evelat radius X



)sin(9.3 13.395m Z
)sin(53.43 )cos(9.3 13.395m Y
)cos(53.43 )cos(9.3 13.395m X



Thus, the X, Y, Z coordinates of the point cloud of one transmitting in the single return mode of this
channel is (7.88m,10.62m,2.17m)。
2.1.3 Tail
The Tail contains 3 bytes and are reserved bits.
2.2 LiDAR Information Output Protocol (DIFOP)
LiDAR Information Output Protocol is abbreviated as DIFOP
I/O type: LiDAR output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N),
firmware version information, host computer driver compatibility information, network
configuration information, calibration information, operating status, and fault diagnosis
information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
A complete DIFOP packet consists of a synchronization header, reserved bytes and
a data packet. Each DIFOP Packet is 256-byte long, including an 8-byte long
synchronization header, 1 reserved byte and a 247-byte long data packet.
The basic structure of the DIFOP packet is as shown in the table below.
Table 7: Definition of DIFOP packet
Segments
Sequence
No.
Attribute
Definition
Offset
Length
（
byte
)
Header
1
Header
DIFOP identification
header
0
8