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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2. An Open File dialog will pop up. Navigate to a pcap file, select it, and click the Open button.
Figure C-7: Select the PCAP file.
3. The Sensor Configuration dialog will pop-up. Select your sensor configuration folder and click OK.
4. Press Play to replay/pause the data stream. Use the Scrub slider tool (it looks like an old-fashioned
volume slider) to move back and forth through the data frames. Both controls are in the same toolbar as
the Record button (Figure C-8).
Figure C-8: RSView Play Button.
5. To take a closer look at some data, scrub to an interesting frame and click the Spreadsheet button
(Figure C-9). A sidebar of tabular data is displayed to the right of the rendered frame, containing all data
points in the frame.
Figure C-9: RSView Spreadsheet Tool.