Table of Contents
1 Product Specifications ............................................................................................................... 1
2 Communication Protocol ........................................................................................................... 3
2.1 Main Data Stream Output Protocol (MSOP) ...................................................................... 4
2.2 LiDAR Information Output Protocol (DIFOP) .................................................................... 10
3 Interface Box Connection and State Machine ..................................................................... 13
3.1 The Connection of Interface Box ...................................................................................... 13
3.2 State Machine of LiDAR .................................................................................................... 14
4 Time Synchronization .............................................................................................................. 15
4.1 Precision Time Protocol .................................................................................................... 15
4.2 Use Linuxptp tool to verify time synchronization ............................................................ 16
4.3 GPS Time Synchronization ................................................................................................ 19
Appendix A RSView .................................................................................................................... 21
A.1 Software Features ............................................................................................................ 21
A.2 Install RSView ................................................................................................................... 21
A.3 Set Up Network ................................................................................................................ 21
A.4 Visualization of Point Cloud ............................................................................................. 22
A.5 Save Streaming Sensor Data into PCAP File ..................................................................... 23
A.6 Replay Recorded Sensor Data from PCAP Files ................................................................ 26
Appendix B Driver & SDK .......................................................................................................... 30
B.1 Compile and Install rs_ driver .......................................................................................... 30
B.2 Compile and Install rslidar_sdk ........................................................................................ 32
Appendix C Autosar Tool ............................................................................................................ 40
C.1 Tool Introduction .............................................................................................................. 40
C.2 Operation System Requirements ..................................................................................... 40
C.3 Operation Instructions ..................................................................................................... 40
Appendix D Dimension ............................................................................................................... 47
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