User Guide
Table Of Contents
- 1 Safety Notices
- 2 Introduction
- 3 Product Specifications
- 4 Connections
- 5 Communications Protocols
- 6 GPS Synchronization
- 7 Key characteristics
- 8 Point Cloud
- 9 Laser Channels and Vertical Angles
- 10 Calibrated Reflectivity
- 11 Troubleshooting
- Appendix A ▪ Point Time Calculate
- Appendix B ▪ Information Registers
- B.1 Motor(MOT_SPD)
- B.2 Ethernet(ETH)
- B.3 FOV Setting (FOV SET)
- B.4 Motor Phase Offset (MOT_PHASE)
- B.5 Top Board Firmware (TOP_FRM)
- B.6 Bottom Board Firmware (BOT_FRM)
- B.7 Serial Number(SN)
- B.8 Software Version(SOFTWARE_VER)
- B.9 UTC Time(UTC_TIME)
- B.10 STATUS
- B.11 Fault Diagnosis
- B.12 ASCII code in GPRMC Packet
- B.13 Corrected Vertical Angle (COR_VERT_ANG)
- B.14 Corrected Horizontal Offset Angle (COR_HOR_AN
- Appendix C ▪ RSView
- Appendix D ▪ RS-LiDAR-32 ROS Package
- Appendix E ▪ Dimensions
- Appendix G ▪ How to Distinguish the Port Number of
RS-LiDAR-32 User Manual
3
3 Product Specifications
1
Table 1: Product Parameters.
1
The following data is only for mass-produced products. Any samples, testing machines and other non-mass-produced
versions may not be referred to this specification. If you have any questions, please contact RoboSense sales.
2
The measurement target of rang is a 20% NIST Diffuse Reflectance Calibration Targets, the test performance is
depending on circumstance factors, not only temperature, range and reflectivity but also including other uncontrollable
factors.
3
The measurement target of accuracy is a 50% NIST Diffuse Reflectance Calibration Targets, the test performance is
depending on circumstance factors, not only temperature, range and reflectivity but also including other uncontrollable
factors.
Sensor
Time of Flight Distance Measurement
32 Channels
Measurement Range: 40 cm to 200 m (on 20% reflectivity target)
2
Accuracy: ±3 cm (typical)
3
Field of View (Vertical): -25°~+15°
Angular Resolution (Vertical): at least 0.33°
Field of View (Horizontal): 360°
Angular Resolution (Horizontal/Azimuth): 0.1°(5Hz) to 0.4°(20Hz)
Rotation Speed: 300/600/1200 rpm (5/10/20 Hz)
Laser
Class 1
Wavelength: 905nm
Full Beam Divergence Horizontal:7.4 mrad, Vertical: 1.4 mrad
Output
Data Rate: ~600,000 points/second
100Mbps Ethernet
UDP packet, include:
Distance
Rotation Angle/Azimuth
Calibrated Reflectivity
Synchronized Timestamp(Resolution: 1μs)