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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D.4 View the real time data
1. Connect the RS-LiDAR-32 to your PC via RJ45 cable, and power on it.
2. We have provided an example launch file named “rs_lidar_32.launch” under
rslidar_pointcloud/launch to start the node, we can run the launch file to view the real time point cloud
data. Open a terminal:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_32.launch
3. Open a new terminal:
rviz
Set the Fixed Frame to "rslidar". Add a Pointcloud2 type and set the topic to "rslidar_points":
Figure D - 1: Rviz displays point cloud data of RS-LiDAR-32.
D.5 View the recorded pcap file offline
We can also use the ros_rslidar ROS package to view the recorded .pcap data.
1. Modify the “rs_lidar_32.launch” file to something like below (please pay attention to the red line):