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
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Table 5: Channel Data.
The 2-byte distance data is set in centimeter. The distance resolution is 1 centimeter.
The following shows how to parse channel data.
In the case of Figure 9, the distance information is calculated by:
Get distance values: 0x83 ,0x48
Get the group flag value: 0x01
Actual distance value: 0x03, 0x48
Remove the group flag to get the distance: 0x0348
Convert to decimal: 840
Multiply 0.01
Result: 8.40 m
Hence, the distance measured is 8.4m.
(2) 0.5cm resolution version
Channel data contains 3 bytes, with the upper 2 bytes (16 bit in total) store distance information, and the
lower 1 byte contains reflectivity data. The structure of channel data is as shown in Table 6.
Table 6: Channel Data.
The 2-byte distance data is set in centimeter. The distance resolution is 0.5 centimeter.
The following shows how to parse channel data.
In the case of Figure 10, the distance information is calculated by:
Get distance values: 0x83 ,0x48
Combine to get the distance: 0x8348
Convert to decimal: 33608
Multiply 0.005
Result: 168.04m
Channel Data N (3 byte)
2-byte Distance
1 byte Reflectivity
Flag [15]
Distance1 [14:8]
Distance2 [7:0]
Reflectivity
Channel Data N (3 byte)
2-byte Distance
1 byte Reflectivity
Distance1 [15:8]
Distance2 [7:0]
Reflectivity