LSLIDAR M10P User manual

M10P
User Manual
V2.0.0
2022.07
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

Safety Instruction
Before using the product, please read and follow the instructions of this manual
carefully, and refer to relevant national and international safety regulations.
∆Attention
Please do not disassemble or modify the Lidar privately. If you need special
instructions, please consult the technical support staff of LSLiDAR.
∆Laser Safety Level
The laser safety of this product meets the following standards:
● IEC 60825-1:2014
● 21 CFR 1040.10 and 1040.11 standards, except for the deviations (IEC 60825-
1, third edition) stated in the Laser Notice No. 56 issued on May 8, 2019. Please
do not look directly at the transmitting laser through magnifying devices (such
as microscope, head-mounted magnifying glass, or other forms of magnifying
glasses).
Eye Safety
The product design complies with Class 1 human eye safety standards. However,
to maximize self-protection, please avoid looking directly at running products.
∆Safety Warning
In any case, if the product is suspected to have malfunctioned or been damaged,
please stop using it immediately to avoid injury or further product damage.
Housing
The product contains high-speed rotating parts, please do not operate unless
the housing is fastened. Do not use a product with damaged housing in case of
irreparable losses. To avoid product performance degradation, please do not
touch the photomask with your hands.
Operation
This product is composed of metal and plastic, which contains precise circuit
electronic components and optical devices. Improper operations such as high
temperature, drop, puncture or squeeze may cause irreversible damage to the
product.
Power Supply
Please use the connecting cable and matching connectors provided by LeiShen

Intelligent to supply power. Using cables or adapters that are damaged or do not
meet the power supply requirements, or supply power in a humid environment
may cause abnormal operation, fire, personal injury, product damage, or other
property loss.
Light Interference
Some precise optical equipment may be interfered with by the laser emitted by
this product, please pay attention when using it.
Vibration
Please avoid product damage caused by strong vibration. If the product's
mechanical shock and vibration performance parameters are needed, please
contact LSLiDAR for technical support.
Radio Frequency Interference
The design, manufacture and test of this product comply with relevant
regulations on radiofrequency energy radiation, but the radiation from this
product may still cause other electronic equipment to malfunction.
Deflagration and Other Air Conditions
Do not use the product in any area with potentially explosive air, such as areas
where the air contains high concentrations of flammable chemicals, vapours or
particles (like fine grains, dust or metal powder). Do not expose the product to
the environment of high-concentration industrial chemicals, including near
evaporating liquefied gas (like helium), so as not to impair or damage the product
function.
Maintenance
Please do not disassemble the Lidar without permission. Disassembly of the
product may cause its waterproof performance to fail or personal injury.

Table of Contents
1Product Profile.......................................................................................................... 1
1.1 Overview ........................................................................................................ 1
1.2 Mechanism ..................................................................................................... 1
1.2.1 Time of Flight...................................................................................... 1
1.2.2 Grid Map Presentation...................................................................... 1
1.3 Specifications................................................................................................. 2
1.4 Dimensions..................................................................................................... 3
1.5 Interface Definition ...................................................................................... 3
1.5.1 LiDAR Base Connector ..................................................................... 3
1.5.2 Interface Box....................................................................................... 4
2Electrical Parameters............................................................................................... 5
3Communication Protocol........................................................................................ 6
4Optical Features ....................................................................................................... 6
4.1 Laser Feature ................................................................................................. 6
4.2 Light Spot ....................................................................................................... 6
4.3 Optical Structure........................................................................................... 7
5Development tools and supports ......................................................................... 8
5.1 Point Cloud Display Software on Windows............................................. 8
5.1.1 Software Interface Introduction...................................................... 8
5.1.2 Software Operation........................................................................... 9
5.1.3 Software Interface Introduction...................................................... 9
5.2 Notes .............................................................................................................10
6ROS Driver Operation Under Linux OS.............................................................11
6.1 Hardware Connection and Test................................................................12
6.2 Software Operation Example ...................................................................13
7LiDAR Maintenance...............................................................................................14
7.1 Shipping Requirements..............................................................................14
7.2 Installation.................................................................................................... 14
7.3 Cleaning ........................................................................................................ 14
Revision History ............................................................................................................ 16

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1Product Profile
1.1 Overview
Based on TOF (time of flight), the M10P lidar can two-dimensionally scan and
detect the environment across 360°. The lidar uses wireless power supply and
wireless communication internally, and the pulse repetition frequency (PRF) is
20KHz. The lidar reaches a measurement accuracy of ±3 cm with a maximum
range of 25 m. With such high performance, the lidar mainly applies to scenarios
that require precise location and obstacle avoidance, including indoor service
robots, AGV, cleaning and sterilization robots, drones, and so on.
1.2 Mechanism
1.2.1 Time of Flight
Based on the TOF (time of flight) methodology, the M10P lidar measures the
distance between a target object and the sensor, by calculating the difference
between the emission and return times of modulated laser. The laser emitter
sends out the modulated pulse laser, and an internal timer starts timing(t1). The
laser encounters the target object, part of the energy returns. When the lidar
receives the return laser signal, the timer will stop timing(t2). The formula for
distance between the lidar and the target object:
Distance = Speed of Light*(t2 – t1)/2
Figure 1.1 Mechanism of M10P
1.2.2 Grid Map Presentation
You can get the 2D grid map information of the surrounds across 360° within

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the detecting distance, based on the combination of the distance value
calculated in real-time by the signal processing unit embedded in the M10P and
the angle information output by the highly accurate self-adjusted angle
measuring module.
Figure 1.2 Demonstration of Ranging Function
*Note: The figures only demonstrate the function of the distance measuring
system. They are not proportional.
1.3 Specifications
Table 1.1 Specifications of M10P
Model
M10P
scanning angle
360°
PRF
20 KHz
Data Generating Rate
20,000 pts/sec
Angular Resolution
0.22°
Scanning Rate
12 Hz
Measurement
Accuracy
±3 cm
Output Data
Resolution
1 mm
Wavelength
905 nm
Laser Safety Level
CLASS I
Detection Range
10 m @10%
Data Content
Azimuth, Distance, High Reflector Recognition
Network Power
Supply
5 V ~ 15 VDC
Operating
Temperature
-10 ~ 50
Noise
Starting-up: <60 dB, Operating:<50dB
Motor
Built-in Brushless Motor
Communication
Interface
Standard Serial Port (Baud Rate: 512000 bps)
Shock Test
500 m/sec², lasting for 11 ms

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Vibration Test
5 Hz 2000 Hz, 3G rms
Dimensions
79.3*39 mm
Weight
About 200 g
1.4 Dimensions
A set of laser transmitting and receiving devices is fixed to the rotor of the lidar,
which is rotated by an internal motor to achieve a 360° scan in the horizontal
direction.
Figure 1.3 Lidar Mounting and Mechanical Dimensions (unit: mm)
1.5 Interface Definition
The specification of M10’s base connector is HY2.0-6P. The M10 lidar gets data
transmission, system power and data communication via a network interface box.
1.5.1 LiDAR Base Connector
Figure 1.4 Dimensions of Lidar Base Connector (unit: mm)
The M10P lidar supports GPS function. See the GPS port definition below:

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Figure 1.5 Lidar GPS Port
Table 1.2 GPS Port Definition
Pin
Description
Typical Value
Range
Remark
VCC
Power+
5V
4.75~5.25
Ripple within 80 MV
GND
Power-
0V
0V
RX
System serial input
TTL
Data Stream:
External Device → LiDAR
TX
System serial output
TTL
Data Stream:
LiDAR → External Device
PPS
GPS second signal
REC
GPS latitude, longitude,
hour, minute and
second
1.5.2 Interface Box
A TTL to Ethernet adapter module is available for the M10 lidar to enable the
conversion of TTL to network data. This Interface box is not a necessary
accessory for lidar operation. The function of each port of the box is described
as follows:
⚫Power port: system power supply.
⚫Standard Ethernet port: connection of the lidar to the host computer
network port via a network cable.
⚫Lidar port: connection to the lidar.
⚫GPS port: connection to the GPS module.
The GPS port specification of the interface box is JST company's SM06B-SRSS-
TB. It is recommended to use JST's SHR-06V-S-B as the external GPS module.

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Figure 1.6 Connect All Modules Through Interface Box
Table 1.3 GPS Port Definition
Pin
Definition
I/O
Description
1
PPS Sync Signal
I
TTL level range from 3.3V to 12V; its cycle is 1
second, and the recommended pulse width is more
than 5 ms
2
GPS Power Supply 5V
O
No hot plug or unplug
3
GPS_GND
O
Good contact
4
GPS
(latitude/longitude,
hour/minute/second)
I
RS232 level, baud rate 9600 bps
5
GPS_GND
O
Good contact
6
NC
-
-
2Electrical Parameters
The M10P lidar communicates with Fast Ethernet. An M10P lidar is made of a
high frequency ranging core, a wireless transmission system, and a rotating
subsystem. The rotating subsystem is driven by a brushless DC motor spinning
inside the system. The signal cable of M10P can be interfaced with the UART
port of the FPGA/DSP/ARM/SCM without the need for the conversion of
RS232, 422 chips. You connect an external system and the lidar and follow the
communication protocol of the lidar system to obtain the scanned point cloud
data, device information and status, and set the working mode in real-time.
Table 2.1 Electrical Parameters
Item
Minimum
Recommended
Maximum
Note
Power
Supply
Voltage
4.75V
5V
5.25V
The power supply not in the
range may lead to inaccurate
ranging or irreversible damage.
The output of external power
supply should be at least 5W.
Voltage
Ripple
-
-
80MV
Too much ripple can cause
irreversible damage to the
hardware.

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Operating
Current
-
400mA
450mA
Lidar at maximum power
consumption
High Signal
Level
2.0V
-
3.3V
Threshold value: 2V
Low Signal
Level
0V
-
0.8V
Threshold value: 0.8V
Baud Rate
512000 bps
Note the stability of data
communication
GPS PPS
3V
12V
Cycle time 1 second,
recommended pulse width
over 5MS
GPS REC
3V
12V
RS232 level, baud rate: 9600
bps
3Communication Protocol
When the M10P is working, each set of data is output through the
communication interface. The output data has uniform message formats. If you
need the detailed communication protocol, please contact LSLiDAR support.
4Optical Features
4.1 Laser Feature
Dependent on a 905 nm laser, M10P emits high-frequency pulsed lasers through
the optical assembly, receives the laser signal through the optical assembly, and
completes the photoelectric conversion by the receiver board. The distance
value calculation is completed by the master control chip and the laser optical
parameters are as follows:
Table 4.1 Laser Optical Parameters
Item
Minimum
Recommended
Maximum
Note
Wavelength
895nm
905nm
915nm
-
Peak Power
-
25W
-
-
Average Power
-
0.8mW
-
-
FDA
Class I
IEC 60825-1:2014
4.2 Light Spot
The light spot of the M10P lidar is a vertical oval. Its vertical divergence angle is
6.8 mrad, and the horizontal divergence angle is 2.5 mrad. The spot size at any
distance can be calculated by multiplying the divergence angle by the distance.

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For example, the calculation of a spot at 10 m is as follows
Vertical direction at 10 m: 10*6.8*10-3=0.068 m
Horizontal direction at 10 m: 10*2.5*10-3=0.025 m
Figure 4.1 Light Spot Demonstration
4.3 Optical Structure
The M10P lidar uses a telescopic optical structure with the receiver and
transmitter placed horizontally side by side. When designing the lidar installation
and robot system integration, it is necessary to focus on the internal optical
structure of the lidar so that the effective detection angle of the lidar can be
designed accurately. To facilitate your use, especially in terms of the calculation
of geometric relationships, LSLiDAR defines a polar coordinate system with the
center point of the lidar as the pole, clockwise as positive, and the opposite
direction to the lidar base connector as the zero-degree angle.
The internal optical structure (unit: mm) and the polar coordinates of M10P as
shown in the figure below (top view):
Figure 4.2 Internal Optical Structure

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Figure 4.3 Lidar's Polar Coordinate
5Development tools and supports
Made for the M10P lidar, LSLiDAR provides you with the SDK capable of
processing scan data in real-time and displaying it as an image. This SDK
facilitates you to get familiar with the lidar and helps to shorten the project
development cycle. At present, LSLiDAR only provides SDK for Linux, ROS, and
Windows X86. We will release versions for Android, Mac OS, and other
platforms later. Please follow the official website of LSLiDAR for the latest
information.
5.1 Point Cloud Display Software on Windows
This section introduces the point cloud display and software usage of LSLiDAR
M10P LIDAR on Windows OS. The M10P LIDAR point cloud display software is
for M10P LIDAR point cloud display, parameter configuration, simple lidar
testing, etc.
5.1.1 Software Interface Introduction
The software interface contains a menu area, a toolbar area, a 3D view area, a
data table area, a company website link, etc.
Click the icon to open the software. The initial interface is shown below

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Figure 5.1 Software Interface
5.1.2 Software Operation
After connecting the lidar to the power and network cables, click the button
for real-time lidar data reception.
The data table contains PointID, Points_m_XYZ, Azimuth, Distance, Intensity,
Laser_id, and timestamp. PointID is the point number and Points_m_XYZ is the
spatial x, y, and z coordinates. Azimuth indicates the azimuth angle, Distance
indicates the distance between the lidar and the measured target, Intensity
indicates the reflection intensity of the measured target, Laser_id indicates
which laser channel, and timestamp indicates the time.
5.1.3 Software Interface Introduction
▉ Introduction to Point Cloud Display
A 24*24 grid with 10 circles. The radius difference between every two adjacent
circles is 1 m, and the radius for the outermost circle is 12 m. The grid and circles
make it easy for you to view the location of the point cloud. The direction of the
coordinate axes on the 3D display interface is the same as the direction of the
X-Y axis on the frame of reference of the point cloud system.
The point cloud display interface supports the following actions:
1) Scroll the mouse wheel to zoom in/out the display image; you can also hold
the right mouse button and drag the image up/down to zoom in/out the

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display image.
2) Hold the left mouse button and drag the display image to adjust the viewing
angle.
3) Hold the mouse wheel and drag the image to move the display image; you
can also hold both the shift key on the keyboard and the left mouse button
to move the display image.
▉ Introduction to Menu Bar Buttons
Table 5.1 Lidar Menu Button Description
Button
Description
Click to start receiving and displaying data
Show/hide the measurement grid
Mark the selected points in the point cloud
image;
Select point clouds from different angles
Pause the live point cloud image and data
Clear screen
Show/hide the coordinate
Show/hide the data column on the left
Three-view option: set the observation angle
from top, front, and left.
Set the display mode of the point cloud
View the software version
Open lidar parameter form
Save the data in .csv format
Save, open, play, stop playing the offline data,
adjust the play speed, etc.
Select the angle of view, the software will only
display the set angle point cloud, with the ability
to accumulate multiple frames
5.2 Notes
▉ Notice about the Lidar setting and usage
1) It is not possible to use the M10P Windows client to receive data in two
processes (open twice at the same time) on the same computer. The port
occupancy of the PC is generally exclusive, so after a process is bound to a
specified port number, the other software using the same process or the

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same port number cannot work normally. When the M10P Windows client
detects that the port is occupied, it will prompt that the communication
network port configuration has failed, and automatically close the software.
You need to close the software process that occupied the port, and reopen
the M10P Windows client to use it normally.
2) Meanwhile, since Qt is adopted in the low-level software development,
please create English paths when naming files and path folders.
3) The default IP of the network interface box is 192.168.1.102. You can use
the network configuration tool provided by LSLiDAR to configurate the IP.
▉ Notice about computer graphics settings
The information about dual graphics cards can be viewed in the computer
configuration. In My Computer > Right Click > Properties > Device Manager, you
can see the computer's display adapter information:
You need to manually set a high-performance discrete graphics card as the
applicable graphics card of the software. The setting steps are as follows:
1) Take a laptop with Intel(R)HD Graphics 530 integrated graphics and NVIDIA
GeForce GTX 960 discrete graphics as an example. Right-click on a blank
space on the desktop to pop up a right-click menu and select “NVIDIA
Control Panel”.
2) Select the “Manage 3D Settings” in the NVIDIA Control Panel interface.
3) Click the “Program Settings” button in the Manage 3D Settings interface.
4) Click the “Add” button on the Manage 3D Settings interface.
5) Click the “Browse” button in the pop-up interface.
6) Find the application file (.exe file) of the software according to its installation
path in the pop-up browsing interface.
7) Click “OK” to automatically return to the NVIDIA control panel, select the
high-performance NVIDIA processor in the combo box of the preferred
graphics processor for this program in Option -2., and click “Apply” in the
lower right corner. After the computer application is set, close the NVIDIA
Control Panel to complete the setting.
6ROS Driver Operation Under Linux OS
This section introduces the point cloud display and driver usage of LSLiDAR
M10P LIDAR on Linux. You can acquire the ROS driver from LSLiDAR technical
support. The LSLiDAR M10P ROS driver is applicable for M10P point cloud
display, parameter configuration, etc.

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6.1 Hardware Connection and Test
1) Connect the lidar to the internet and power supply
2) Set the computer wired IP according to the destination IP of the lidar (you
can use the ifconfig command to check whether the computer wired IP is
set successfully. As shown in the figure, the destination IP is 192.168.1.102)
Figure 6.1 ifconfig Command Feedback
Note: The default destination IP of the lidar is 192.168.1.102, and the computer
must be configured according to the actual Lidar destination IP. (By default, the
lidar is not activated when powered up.)
3) After the lidar is powered on, open a new terminal and input the starting
instruction: rostopic pub -1 /lslidar_difop_switch std_msgs/Int8 "data: 1".
Then the lidar starts scanning.
4) After the lidar is powered on and started, check the wired connection icon
of the computer to see whether it is connected properly.
5) Open the terminal: ping the lidar IP, and test whether the hardware is
connected normally. If the ping is successful, then the data is received,
otherwise check the hardware connection.
6) Use “sudo tcpdump -n -i eth3s0” (here eth3s0 is the name of the wired
network device, see the device name of ifconfig wired connection display
for details) to view the data packets sent by the lidar (as shown in the figure,
there are 1206-byte data packets sent by the Lidar to the destination, which
means that the lidar data is sent normally).
7) If you want to stop the lidar, please input the stop instruction: rostopic pub
-1 /lslidar_difop_switch std_msgs/Int8 "data: 0".

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Figure 6.2 sudo tcpdump -n -i eth3s0 Command Feedback
6.2 Software Operation Example
1) Establish a workspace and build a compilation environment
mkdir -p ~/leishen_ws/src
Note: The workspace can be named arbitrarily. (But the path of workspace
shall be in English only.) For example, “leishen_ws” can be changed to any
name.
2) Download the LiDAR ROS driver
The ROS driver can also be obtained directly from our website or customer
service. Copy the obtained driver file to the newly created workspace “src”,
and decompress it.
3) Compile and package
cd ~/leishen_ws
catkin_make
4) Run the program
source devel/setup.bash
roslaunch lslidar_m10_decoder lslidar_m10.launch
Figure 6.3 ROS Program Running
Input starting instruction: rostopic pub -1 /lslidar_difop_switch
std_msgs/Int8 "data: 1"

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Note: If timeout appears, it means that the driver has no data reception.
Please check whether the IPs and terminals of the hardware connection and
the launch file are the same.
Open a new terminal and execute the command: rviz
5) Display the data detected by the LiDAR
In the “Displays Window” that pops up, modify the value of "Fixed Frame"
to “laser_link”. Click the “Add” button at the same time, and click “LaserScan ”
under “By topic” to add a single-beam point cloud node.
6) Set parameters
In the /src/lslidar_m10/lslidar_m10_decoder/launch/lslidar_m10.launch file,
you can set the IP port, maximum and minimum distance values and angle
cutting, etc.
7LiDAR Maintenance
7.1 Shipping Requirements
LSLiDAR has customized the package for the M10P lidar to withstand a certain
amount of vibration and impact. Special packages must be used for long-distance
transportation to avoid irreversible damage during transportation.
7.2 Installation
Fix the lidar to the base using screws that meet the specifications, and pay
attention to the base heat dissipation. Wear powder-free and clean gloves when
installing, so as not to cause the optical window to be dirty, and not to cause
mechanical damage to the optical window.
7.3 Cleaning
When using the lidar, if the optical window is polluted by fingerprints, mud,
leaves, insect corpses, etc., it will affect the lidar ranging effect. Please follow
the following steps for cleaning.
Tools: PVC gloves, dust-free cloth, anhydrous ethanol (99%)
Environment: ventilated and dry, away from fire sources
1) Wear the PVC gloves and secure the lidar base with your fingers; For a stain
that is not stubborn, use a dust-free cloth to gently wipe it off or dry air to
blow it off.

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2) For a stubborn stain, fill the spray bottle with ethanol, spray evenly on the
stain, wait for a while until the stain is dissolved, and then use a dust-free
cloth dipped in ethanol to gently wipe the optical window. If the dust-free
cloth is polluted, replace it immediately. After cleaning off the stain, use a
new dust-free cloth to wipe off the remaining liquid.

Revision History
Rev.
Release Date
Revised Content
Issued/Revised By
V2.0.0
2022-07-16
Initial version
LS1286