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
II
and later versions. For radars of previous versions of V2.0,
please refer to the manual of version 2.2.
Modify the definition and schematic diagram of the aviation
connector
Add the cleaning reminder in harsh environment.
Add description of replacing LiDAR configuration file in
Ubuntu system
Adapted to the V2.0 version of the LiDAR, at the accurate
point time calculation in Appendix A, the transmission
interval between the channels of the device is changed
from 3μs to 2.8μs, and the block time is changed from 50μs
to 55.5μs.
Add GPS interface pin definition of the V2.0 version LiDAR
interface box
V2.3.1
Update electrical interface diagram
Add "LiDAR" to the network wiring definition
2019-8-16
PD
V2.3.2
Correct some fault description
Add LiDAR Mechanical Installation Suggestion
Update download address of RSView
Add introduction of light-transmitting surface
Update Appendix A for exact time point calculation
Add footnote for specification in chapter 3
2019-11-29
PD
V2.3.3
Update the dimension drawing in Appendix E
Modify some not precise description
2020-02-18
PD