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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A.2 RS-LiDAR-32 Calculation of time stamp in dual mode
In dual mode, for each MSOP packet, there are 12 blocks. Each two block has one sequence for the
whole 32 laser firings, e.g. Block 1 and Block 2 are two captured return signals after all 32 lasers
emitting once, Block 1 is the strongest return signal, block 2 is the second strongest return signal.
Table A-2: Time Offset for Each Channel in dual Return Mode.
Set the channel number data_index is 1~32, sequence_index is 1~12. Because the time stamp is the
time of the first data point in the packet, you need to calculate a time offset for each data point and then
add this offset to the time stamp.
Time offset is:
Time_offset = 55.52 * (floor ((sequence_index - 1) /2)) + 2.88* mod((data_index – 1), 16) + 1.44 *
floor(data_index / 16)