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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9 Laser Channels and Vertical Angles
RS-LiDAR-32 has a vertical field of view of -25°to +15°with a non-uniform distribution. The 32 laser
heads also called as 32 channels. The laser channels and their designated vertical angles are as shown
in the Table 11 or Table 12 However, a lot of elements in the assembling process will lead to slight
divergence between the actual angle of laser channels and their ideal angle. The calibrated vertical
angle and horizontal angle offset can be found from the U disk (path: configuration_data/angle.csv).
Figure 17: RS-LiDAR-32 Laser Channels and Vertical Angles.
As RS-LiDAR-32 has A group and B group laser channels, so it may have two different mapping
relationships between MSOP packets channel sequence and vertical angle as shown in Table 11 and
Table 12.
For the 1cm resolution version, it is necessary to determine the correct sequence according to Table 11
or Table 12 by judging the 15th bit of the two distance bytes. The 15th bit is 0 for group A data, while the
15th bit is 1 for group B data. Please kindly refer to Section 5.1.2 to view the specific calculation method.
In the 0.5cm resolution version, the sequence is fix at A group ahead of B group, so we can refer to
Table 11 to map the channel number and vertical angle.