RS-Ruby Users’ Manual 1
RS-Ruby Users’ Manual Revision History Revision Number 1.
RS-Ruby Users’ Manual Terminology MSOP FOV Azimuth Timestamp Header Tail Thermolysis Main data Stream Output Protocol Field of View Horizontal Angle of LiDAR Time Point of Encapsulation of a UDP Packet The Header of a UDP Packet The Tail of a UDP Packet Loss of Heat from the Object
RS-Ruby Users’ Manual TABLE OF CONTENTS 1 Safety Notice..................................................................................................................................1 2 Introduction.....................................................................................................................................2 3 Product Specifications..................................................................................................................3 4 Interface........................
RS-Ruby Users’ Manual Appendix F Clean of LiDAR......................................................................................................... 35 F.1 Attention............................................................................................................................ 35 F.2 Required Materials.......................................................................................................... 35 F.3 Clean Method..................................................................
RS-Ruby Users’ Manual Congratulations on your purchase of a RS-Ruby Real-Time 3D LiDAR Sensor. Please read carefully before operating the product. Wish you have a pleasurable product experience with RS-Ruby. 1 Safety Notice In order to reduce the risk of electric shock and to avoid violating the warranty, do not open sensor housing. Laser safety-The laser safety complies with IEC60825-1:2014. Read Instructions-All safety and operating instructions should be read before operating the product.
RS-Ruby Users’ Manual 2 Introduction RS-Ruby, the 128-beam LiDAR developed by RoboSense, is the world leading Multi-Beam LiDAR that is particular utilized in and perception of environment for autonomous driving. RS-Ruby is realized by solid-state hybrid LiDAR. The technical details are listed below: Measurement rang 200 meters Vertical angle resolution up to 0.
RS-Ruby Users’ Manual 3 Product Specifications1 Table 1. Product Parameters. Sensor Laser Output Mechanical/ Electrical/ Operational TOF measuring distance, including the reflectivity 128 channels Range: from 3m to 230m (160m@10%)2 Accuracy: upto ±3cm (typical value)3 FOV(vertical): -25°~+15° Angle resolution(vertical): at least 0.1° FOV (horizontal): 360° Angle resolution (horizontal/ azimuth): 0.2° (10 Hz)/0.
RS-Ruby Users’ Manual 4 Interface 4.1 Power supply The supply voltage should remain in the range of 9~32 VDC with utilization of Interface-Box. The recommend supply voltage is 19 VDC. The power consumption is about 45 W. 4.2 Data Output interface of LiDAR The data output access of RS-Ruby is physically protected by an aviation terminal connector. From the LiDAR to the aviation connector the cable length is 1 meter.
RS-Ruby Users’ Manual 24 Yellow/Gray GPS_REC 25 Yellow/Blue Reserved signal 26 Yellow/Purple GROUND Figure 2. Aviation Connector PIN Number 4.3 Interface Box In order to connect the RS-Ruby conveniently, there is an interface box provided. There are accesses for power supply, Ethernet and GPS on Interface Box. Meanwhile there are also indicator LEDs for checking the status of power supply. For those accesses, an SH1.0-6P female connector is the interface for GPS signal input.
RS-Ruby Users’ Manual RoboSense Service. GPS interface definition: GPS REC stands for GPS input, GPS PULSE stands for GPS PPS input. Interface of power supply is standard DC 5.5-2.1 connector. 4.4 Connection of Interface Box Figure 4. Diagram of Interface Box connection.
RS-Ruby Users’ Manual 5 Communication Protocol RS-Ruby adopts IP/UDP protocol and communicates with computer through gigabit Ethernet. In this User Guide the length of UDP packet is set up to 1248 byte. The IP address and port number of RS-Ruby is set in the factory as shown in the Table 2, but can be changed by user as needed. Table 2. The IP Address and Port Number Set in the Factory. IP Address RS-Ruby 192.168.1.200 PC 192.168.1.102 MSOP Port No.
RS-Ruby Users’ Manual MSOP Packet(1248 byte) data packet 80 byte Header 80 byte (11~20 byte is timestamp) 4byte 3*388byte= 1164byte Data block 0 Data block 1 Data block 2 Ret_id Ret_id Ret_id 0xFE 0xFE 0xFE Azimuth 1 Azimuth 2 Azimuth 3 channel data 0 channel data 0 channel data 0 channel data 1 channel data 1 channel data 1 channel data ... channel data ... channel data ...
RS-Ruby Users’ Manual 5.1.2 Data Field The value of measurement result is saved in the data field, in total 1164 byte. It consists of 3 data blocks, the length of each data block is 388 bytes. Each block stands for a complete round of distance measuring for all 128 channel. The definition is shown as follow: Table 5. Data Block Definition Data block n(388bytes) Symbol Ret_id Azimuth Channel0_data ... Channel127_data 1bytes 1bytes 2bytes 3byte ...
RS-Ruby Users’ Manual 5.1.2.2 Channel Data Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance information. The lower one byte stands for reflectivity. Table 6. The Format of Channel Data. Channel data n(3 byte) Distance(2 byte) Distance1[15:8] Reflectivity(1 byte) Distance2[7:0] Reflectivity [7:0] Distance is 2 bytes, resolution: 0.5 cm.
RS-Ruby Users’ Manual Header:0x55,0xaa,0x05,0x5a Data block 0 Channel 1 data calculation distance byte: 0x08, 0x4b; combine the byte: 0x084b; get distance: 0x084b; convert to decimal :2123; multiply by :0.5cm; result :10.615m; Atten byte get atten combine the byte convert to decimal result Data block 1 Azimuth 2 calculation second azimuth :0x5939 combine the byte :0x5939 get azimuth convert to decimal divide by result :0x59 & 0x39 :22841 :100 :228.41° Figure 6.
RS-Ruby Users’ Manual 6 GPS Synchronization RS-Ruby supports external GPS receiver connections. With GPS connections, we can synchronize the RS-Ruby system time to GPS global time. 6.1 Principle of GPS synchronization The GPS receiver keeps generating synchronization Pulse Per Second (PPS) signal and GPRMC message and send them to the sensor. The pulse width of the PPS should between 20ms to 200ms, and the GPRMC message should be received within 500ms after the PPS signal is generated. 6.
RS-Ruby Users’ Manual 7 Key Specifications 7.1 Return Mode There are two return modes on RS-Ruby: strongest return and last return mode. Because of laser divergence, after any laser emission the sensor can receive always more than one return signals. If return mode is set up to the strongest return mode, only the strongest return signal can be seen as useful signal in distance calculating. Similarly, if the setting is the last return mode, only the last return signal can be used to calculate distance. 7.
RS-Ruby Users’ Manual 8 Point Cloud 8.1 Coordinating Mapping In data packet including the measured azimuth and distance, in order to calculating the point cloud, the coordinate in polar coordinate system should be transferred to the 3D XYZ coordinate in Cartesian Coordinate System, as shown in figure 8.
8.2 Laser Channel in spatial Distribution RS-Ruby Users’ Manual 128 lasers in RS-Ruby are defined as 128 channels. The vertical angle of those lasers distribute in the range of -25°~+15°. The distribution of the angles is non-uniform. According to table 7 the corresponding channel and vertical angle are as follow. Table 7. Serial number of laser channel and corresponding horizontal angles. Channel No. Vertical Angle Horizontal Offset Angle 1 -13.565 5.95 2 -1.09 4.25 3 -4.39 2.55 4 1.91 0.
RS-Ruby Users’ Manual 33 -0.99 5.95 34 -4.29 4.25 35 2.01 2.55 36 -25 0.85 37 -0.19 5.95 38 -3.49 4.25 39 2.81 2.55 40 -7.65 0.85 41 0.61 5.95 42 -2.69 4.25 43 3.61 2.55 44 -6.09 0.85 45 1.41 5.95 46 -1.89 4.25 47 5.46 2.55 48 -5.29 0.85 49 2.21 5.95 50 -16.042 4.25 51 -1.19 2.55 52 -4.49 0.85 53 3.01 5.95 54 -6.85 4.25 55 -0.39 2.55 56 -3.69 0.85 57 3.81 5.95 58 -5.89 4.25 59 0.41 2.55 60 -2.89 0.85 61 6.56 5.95 62 -5.
RS-Ruby Users’ Manual 72 3.11 -5.95 73 -5.39 -0.85 74 0.91 -2.55 75 -2.39 -4.25 76 3.96 -5.95 77 -4.59 -0.85 78 1.71 -2.55 79 -1.59 -4.25 80 7.41 -5.95 81 -3.79 -0.85 82 2.51 -2.55 83 -10.346 -4.25 84 -0.89 -5.95 85 -2.99 -0.85 86 3.31 -2.55 87 -6.39 -4.25 88 -0.09 -5.95 89 -2.19 -0.85 90 4.41 -2.55 91 -5.59 -4.25 92 0.71 -5.95 93 -1.39 -0.85 94 11.5 -2.55 95 -4.79 -4.25 96 1.51 -5.95 97 -0.59 -0.85 98 -3.89 -2.55 99 2.41 -4.
RS-Ruby Users’ Manual 111 9 -4.25 112 -4.89 -5.95 113 2.61 -0.85 114 -9.244 -2.55 115 -0.79 -4.25 116 -4.09 -5.95 117 3.41 -0.85 118 -6.29 -2.55 119 0.01 -4.25 120 -3.29 -5.95 121 4.71 -0.85 122 -5.49 -2.55 123 0.81 -4.25 124 -2.49 -5.95 125 15 -0.85 126 -4.69 -2.55 127 1.61 -4.25 128 -1.69 -5.
RS-Ruby Users’ Manual 9 Reflectivity The reflectivity is included in the data field of MSOP packet. Reflectivity is a scale to evaluate the ability of the object reflection of light. This value is highly related to the material of measured object. Hence, the character can be used to distinguish the different materials. RS-Ruby reports reflectivity values from 0 to 255 with 255 being the reported reflectivity for an ideal reflector.
RS-Ruby Users’ Manual 10 Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Interface BOX red LED doesn’t light or blink Verify the power connection and polarity Interface BOX red LED lights on but green LED doesn’t light or blink Verify the connection between Interface BOX and LiDAR is solid. Rotor doesn’t spin Verify the Interface BOX LEDs is okay Verify the connection between Interface BOX and LiDAR is solid.
RS-Ruby Users’ Manual Data dropouts GPS not synchronizing No data via router Sensor point cloud data distortion A blank region rotates in the cloud data when using ROS driver Point cloud data to be a radial This is nearly always an issue with the network and/or user computer. Check the following: Is there excessive traffic and/or collisions on network? Are excessive broadcast packets from another service being received by the sensor? This can slow the sensor down.
RS-Ruby Users’ Manual Appendix A – the Format of all Register A.1 UTC_TIME UTC Time(in total 10 bytes) Byte No. byte1 byte2 byte3 byte4 byte5 byte6 Function year month day hour min sec Byte No. byte9 byte10 bit3 bit2 Function byte7 byte8 ms μs Explanation of each Byte in UTC： 1) year set_year Byte No. bit7 bit5 bit4 bit1 bit0 set_year[7:0]：Data 0~255 corresponds to year 2000~ year 2255 Function 2) bit6 month set_month Byte No.
RS-Ruby Users’ Manual 7) ms set_ms Byte No. bit15 bit14 bit13 bit12 bit11 bit10 Function reserve reserve reserve reserve reserve reserve Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 bit9 bit8 Function bit9 bit8 ms[9:8] set_ms[7:0] Note：set_ms[9:0]value：0~999 8) μs set_us Byte No. bit15 bit14 bit13 bit12 bit11 bit10 Function reserve reserve reserve reserve reserve reserve Byte No.
RS-Ruby Users’ Manual Appendix B RSView In this appendix, the record, visualization, save and redisplay of the data from RS-Ruby will be interpreted with using RSView. The original sensor data can be also captured and examined by using other free tools, such as Wireshark or TCP-Dump. But visualization of the 3D data through using RSView is easy to realize. RS-Ruby is used with RSView vision 3.1.5. or above. B.
RS-Ruby Users’ Manual B.4 Visualization of point cloud 1. Connect the RS-Ruby to PC over Ethernet cables and power supply. 2. Right Click to start the RSView application with Run as administrator. 3. Click on the “File”-> Open -> Sensor Stream (Fig B-1). Figure B - 1. Open sensor stream in RSView. 4. After finishing above 3 steps, the dialogue box “Sensor Configuration” shows up.
RS-Ruby Users’ Manual Figure B - 3. RSView Sensor Stream Display. B.5 Save Streaming Sensor Data into PCAP File 1. Click the record button while real-time display (Fig. B-4). Figure B - 4. RSView Record Button. 2. In the dialogue box “Choose Output File”, the save path and file name of pcap file can be set up. (Fig B-5). After clicking “save” button, RSView begins writing data into pcap file. (Note: RS-Ruby will generate enormous measuring data.
RS-Ruby Users’ Manual B.6 Replay Recorded Sensor Data from PCAP Files In order to replaying (or examining) a pcap file, please import it into RSView. Then press Play/Pause button to let it play or scrub the time slider to a certain time point as user wishes. When only a part of 3D point cloud is concerned, it can be selected out by mouse. Then point cloud data of this part can be shown in table. 1. Click File -> Open then select Capture File. Figure B - 6. RSView Open Capture File. 2.
RS-Ruby Users’ Manual be displayed on the right side. It contains all displayed data points in the frame. Figure B - 9. RSView Spreadsheet tool. 6. The dimension and the sort of data in this table are adjustable. That can make the display more obvious. (Fig. B-10) Figure B - 10. RSView Data Point Table. 7. Click “Show only selected elements” in spreadsheet can acquire corresponding data, certainly there is no data shown in table, if no one point is selected. (Fig. B-11) Figure B - 11.
RS-Ruby Users’ Manual Figure B - 13. RSView Selected Points. 10. Any selected point can be saved by doing File>Save As>Select Frames.
RS-Ruby Users’ Manual Appendix C RS-Ruby ROS Package This appendix describes how to use Ubuntu + ROS to acquiring and visualizing the measuring data from RS-Ruby. C.1 Software Installation 1. Download and Install Ubuntu 16.04 OS. 2. Please refer the link (http://wiki.ros.org/kinetic/Installation) to install the ROS Kinetic . 3. Download and install libpcap-dev. C.2 Compile RS-Ruby ROS Package 1. Create a workspace for ROS: cd ~ mkdir -p catkin_ws/src 2.
RS-Ruby Users’ Manual Set the Fixed Frame to "rslidar", add a Pointcloud2 type and set the topic to "rslidar_points". Figure C - 1. Display point cloud Data in rviz. C.5 Offline Display the recorded PCAP File The ros_rslidar ROS package can be also use to display the recorded. Pcap offline data. 1. Modify the “rs_ruby.launch” file like below (please pay attention to the red code line): PAGE 37RS-Ruby Users’ Manual 2. Open a terminal, run the node： cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_pointcloud rs_ruby.launch 3. This step is same as step 3 in chapter C.4.
RS-Ruby Users’ Manual Appendix D Dimension Figure D - 1: Dimension of Ruby.
RS-Ruby Users’ Manual Appendix E Suggestion of Mechanical LiDAR Mount Please make sure the surface of platform used for mounting LiDAR is smooth as possible. Please make sure the locating pin on the mount surface do exceed 4mm high. The material of the mount platform is suggested to be aluminum alloy in order to thermolysis.
RS-Ruby Users’ Manual Appendix F Clean of LiDAR F.1 Attention Before cleaning the RS-LiDAR, please read through this entire Appendix F. Otherwise, improper handling can permanently damage it. When the sensor is used in a harsh environment, it is necessary to clean it in time to keep its performance. F.2 Required Materials 1. 2. 3. 4. 5. Clean microfiber cloths Mild, liquid dish-washing soap Spray bottle within warm, clean water Solution of Isopropyl alcohol Clean gloves F.
RS-Ruby Users’ Manual 36
