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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Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP
Packets
According to the Chapter 5, RS-LiDAR-32 outputs MSOP packets and DIFOP packets. We can use the
Wireshark software to filter the MSOP packets or DIFOP packets so that we can know which port
number the packets send to. After that we can set the Data Port in the RSVIEW.
We first need connect the RS-LiDAR-32 to the PC and power on the RS-LiDAR-32. The we can start the
Wireshark and select the right network to begin capturing the packets.
In the Display Filter, we can enter data.data[0:1]==55 expression to filter the MSOP packets, then we
can see the port number in the Info column, as shown in Figure G-1.
In the Display Filter, we can enter data.data[0:1]==a5 expression to filter the DIFOP packets, then we
can see the port number in the Info column, as shown in Figure G-2.
Figure G-1: Wireshark Filter the MSOP Packets.
Figure G-2: Wireshark Filter the DIFOP Packets.