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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5. RSView begins displaying the sensor data stream (Figure C-3). The stream can be paused by
pressing the Play button. Press it again to resume streaming.
Figure C-3: RSView Sensor Stream Display.
C.5 Capture Streaming Sensor Data to PCAP File
1. Click the Record button when streaming (Figure C-4).
Figure C-4: RSView Record Button.
2. A Choose Output File dialog will pop up. Navigate to where you want the file to be saved and click
the Save button (Figure C-5). RSView begins writing packets to your pcap file. (
Note: RS-LiDAR-32
sensors generate a lot of data. The pcap file can become quite large if the recording duration is lengthy. Also,
it is best to record to a fast, local HDD or SSD, not to a slow subsystem such as a USB storage device or
network drive.
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