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
21
GPS is 3.3V power supply. Also please do not input the power into the +5V pin because the pin is an
output.)
Pin GND provide the ground connection for GPS module.
The GPS module should set to 9600bps baud rate, 8-bit data bit, no parity and 1 stop bit. RS-LiDAR-32
only read the GPRMC message from GPS module., the GPRMC message format is shown as below:
$GPRMC, <1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh
<1> UTC time
<2> validity - A-ok, V-invalid
<3> Latitude
<4> North/South
<5> Longitude
<6> East/West
<7> Ground Speed
<8> True course
<9> UTC date
<10> Variation
<11> East/West
<12> Mode (A/D/E/N=)
*hh checksum from $ to *
Different GPS module may send out different length GPRMC message, the RS-LiDAR-32 reserve
86-byte space for GPRMC message, so it can be compatible with the majority GPS module in the
market.