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
IV
7.2 Phase Lock............................................................................................................................................... 23
8 Point Cloud...........................................................................................................................................................24
8.1 Coordinate Mapping................................................................................................................................24
8.2 Point Cloud Presentation........................................................................................................................25
9 Laser Channels and Vertical Angles................................................................................................................27
10 Calibrated Reflectivity...................................................................................................................................... 31
11 Troubleshooting.................................................................................................................................................33
Appendix A ▪ Point Time Calculate...................................................................................................................... 35
A.1 RS-LiDAR-32 Calculation of time stamp in single mode..................................................................35
A.2 RS-LiDAR-32 Calculation of time stamp in dual mode.....................................................................37
Appendix B ▪ Information Registers.................................................................................................................... 39
B.1 Motor(MOT_SPD)................................................................................................................................... 39
B.2 Ethernet(ETH)..........................................................................................................................................39
B.3 FOV Setting (FOV SET).........................................................................................................................40
B.4 Motor Phase Offset (MOT_PHASE).................................................................................................... 40
B.5 Top Board Firmware (TOP_FRM).........................................................................................................41
B.6 Bottom Board Firmware (BOT_FRM).................................................................................................. 41
B.7 Serial Number(SN)..................................................................................................................................41
B.8 Software Version(SOFTWARE_VER)................................................................................................. 41
B.9 UTC Time(UTC_TIME)...........................................................................................................................42
B.10 STATUS.................................................................................................................................................. 44
B.11 Fault Diagnosis...................................................................................................................................... 45
B.12 ASCII code in GPRMC Packet............................................................................................................46
B.13 Corrected Vertical Angle (COR_VERT_ANG)..................................................................................47
B.14 Corrected Horizontal Offset Angle (COR_HOR_ANG)...................................................................48
Appendix C ▪ RSView............................................................................................................................................ 50
C.1 Features....................................................................................................................................................50
C.2 Install RSView..........................................................................................................................................50