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
16
Note: The Header (the DIFOP identifier) in the table above is 0xA5,0xFF,0x00,0x5A,0x11,0x11,0x55,0x55,
they can be used to check the sequence of packets.
The tail is 0x0F,0xF0.
For definition of information registers as well as their usage, please check more details in Appendix B of
this manual.
4
Reserved
36
2
5
Motor phase lock (MOT_PHASE)
38
2
6
Top board firmware version (TOP_FRM)
40
5
7
Bottom board firmware version
(BOT_FRM)
45
5
8
Reserved
50
240
9
Intensity scale
290
1
10
Intensity Mode
291
1
11
Serial number (SN)
292
6
12
Zero angle offset
298
2
13
Return mode
300
1
14
Upper computer compatibility
301
2
15
UTC time (UTC_TIME)
303
10
16
Operation status (STATUS)
313
18
17
Reserved
331
11
18
Fault diagnosis (FALT_DIGS)
342
40
19
GPRMC
382
86
20
Corrected vertical angle
468
96
21
Corrected horizontal angle
564
96
22
Reserved
660
586
Tail
23
Tail
1246
2