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
58
Figure C-16: Data Port Setting.
C.9 Firmware Online Update
Before begin firmware online update, we need make sure the RS-LiDAR-32 is working normally, that
means we can view the point cloud and get LiDAR information in RSVIEW.
Click Tools > Online Update, we can select the top board firmware update and bottom board firmware
update as shown in Figure C-18.
Figure C-17: Online Update.
For example, when we choose “Bottom Board Update”, we need direct to choose the .rpd firmware file
for update, and then click Open to begin the online update process. The online update process would
take some time, if the firmware update successfully, it will show “Online Update Successful”.
Note: The Config Update option is not available.