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RoboSense RS-LiDAR-M1 - Page 52

RoboSense RS-LiDAR-M1

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RS-LiDAR-M1 User Guide

Drawing of LiDAR with interface AN2：

Table of Contents

Table of Contents3
Product Specifications4
Communication Protocol6
Main Data Stream Output Protocol (MSOP)7
Lidar Information Output Protocol (DIFOP)13
Interface Box Connection and State Machine16
The Connection of Interface Box16
State Machine of Lidar17
Time Synchronization18
Precision Time Protocol18
Use Linuxptp Tool to Verify Time Synchronization19
GPS Time Synchronization22
Appendix A Rsview24
Software Features24
Install Rsview24
Set up Network24
Visualization of Point Cloud25
Save Streaming Sensor Data into PCAP File26
Replay Recorded Sensor Data from PCAP Files29
Appendix B Driver & SDK33
Compile and Install Rs_ Driver33
Compile and Install Rslidar_Sdk35
Appendix C Autosar Tool43
Tool Introduction43
Operation System Requirements43
Operation Instructions43
Appendix D Dimension50

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