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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Register description :
(1) The angle value is signed integer, vertical angle for each channel is consist of 3 bytes, while the first
byte represents the sign, the second byte and the third byte represent the value for the angle.
(2) The first byte 0x00 represents positive while 0x01 represents negative.
(3) LBS=0.001;
(4) For example the register for vertical angle of Channel 10 is as below: byte1=0x01, byte2=0x0A
convert to decimal is 40, byte3=0x70 convert to decimal is 41, so the vertical angle of Channel 10 is:
-(10*256+ 112) *0.001=-2.672
Function
Channel 28_HOR_ANG
Channel 29_HOR_ANG
Channel 30_HOR_ANG
Byte No.
byte91
byte92
byte93
byte94
byte95
byte96
Function
Channel 31_HOR_ANG
Channel 32_HOR_ANG