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
29
Table 12: Laser Channel Number and Their Designated Vertical Angle (B group ahead).
24
-4.667
8
25
-2.333
-8
26
-2.667
-2.672
27
-3.000
2.672
28
-3.333
8
29
-1.000
-8
30
-1.333
-2.672
31
-1.667
2.672
32
-2.000
8
Laser Channel
No.
Ideal Vertical Angle
Ideal Horizontal Offset
Angle
Group
1
-25.000
-8
B
2
-14.638
-8
3
-7.910
-8
4
-5.407
-8
5
-3.667
-8
6
-4.000
-2.672
7
-4.333
2.672
8
-4.667
8
9
-2.333
-8
10
-2.667
-2.672
11
-3.000
2.672
12
-3.333
8
13
-1.000
-8