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 11: Laser Channel Number and Their Designated Vertical Angle (A group ahead).
Laser Channel No.
Vertical Angle
Horizontal Offset
Angle
Group
1
-10.281
8
A
2
-6.424
8
3
2.333
8
4
3.333
-8
5
4.667
8
6
7.000
-8
7
10.333
8
8
15.000
-8
9
0.333
-8
10
0.000
-2.672
11
-0.333
2.672
12
-0.667
8
13
1.667
-8
14
1.333
-2.672
15
1.000
2.672
16
0.667
8
17
-25.000
-8
B
18
-14.638
-8
19
-7.910
-8
20
-5.407
-8
21
-3.667
-8
22
-4.000
-2.672
23
-4.333
2.672