User Guide

RS-Ruby Users’ Manual
TABLE OF CONTENTS
1 Safety Notice
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1
2 Introduction
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2
3 Product Specifications
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3
4 Interface
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4
4.1 Power supply
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4
4.2 Data Output interface of LiDAR
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4
4.3 Interface Box
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5
4.4 Connection of Interface Box
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6
5 Communication Protocol
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7
5.1 MSOP
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7
5.1.1 Header
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8
5.1.2 Data Field
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9
5.1.3 Tail
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10
5.1.4 MSOP Data Package
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10
6 GPS Synchronization
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12
6.1 Principle of GPS synchronization
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12
6.2 GPS Usage
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12
7 Key Specifications
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13
7.1 Return Mode
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13
7.2 Phase Lock
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13
8 Point Cloud
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14
8.1 Coordinating Mapping
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14
8.2 Laser Channel in spatial Distribution
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15
9 Reflectivity
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19
10 Troubleshooting
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20
Appendix A – the Format of all Register
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22
A.1 UTC_TIME
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22
Appendix B RSView
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24
B.1 Software Features
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24
B.2 Installation of RSView
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24
B.3 Network Setup
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24
B.4 Visualization of point cloud
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25
B.5 Save Streaming Sensor Data into PCAP File
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26
B.6 Replay Recorded Sensor Data from PCAP Files
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27
Appendix C RS-Ruby ROS Package
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30
C.1 Software Installation
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30
C.2 Compile RS-Ruby ROS Package
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30
C.3 Configure PC IP address
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30
C.4 Display of the real-time data
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30
C.5 Offline Display the recorded PCAP File
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31
Appendix D Dimension
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33
Appendix E Suggestion of Mechanical LiDAR Mount
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34