RoboSense RS-LiDAR-16 User manual

RS-LiDAR-16 User’s Manual
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RS-LiDAR-16 User’s Manual
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Revision History
Revision
Content
Time
Edit
1.0
Initial release
2017-03-01
RD
3.0
Fill inthe content according to RS-LiDAR-16 1.0
hardware.
2017-05-10
RD
3.1
Modify the relatioship between laser channel and
vertical angle
2017-06-13
PD
3.2
Update the content according to RS-LiDAR-16 2.0
hardware
Add the timestamp calculation method for every
point
2017-07-17
PD
3.3
Improve the range to 150m
Delete the description that MAC addressing is the
same as serial number
Add azimuth interpolation calculation method
Corrected the data structure of UCWP
Add the instruction for RSVIEW
Add the instruction for ROS driver
2017-08-10
PD
3.4
Add the frame description for ROS driver
Add the RS-LiDAR information in RSVIEW
2017-08-23
PD
3.5
Correct the description for horizontal resolution
Add the description for LiDAR mechanical origin
2017-09-16
PD
3.6
Update the RS-LiDAR information and data port
setting
Update the protocol description of DIFOP
2017-12-05
PD
3.7
Correct the depth dimension of the mount hole
Add Phase Lock
Add fault diagnosis
Add operation status
2018-02-05
PD
3.8
Add trouble shooting
2018-03-15
PD
4.0
Add LiDAR flag for MSOP
Update DIFOP protocol
Add top and bottom board flag description
Add GPS input status flag
Add laser mechanical position
Add bottom board firmware online update
Add fault diagnosis usage
2018-06-25
PD

RS-LiDAR-16 User’s Manual
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Add LiDAR installation suggestion

RS-LiDAR-16 User’s Manual
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TABLE OF CONTENTS
1 Safety Notices........................................................................................................................................................ 6
2 Introduction........................................................................................................................................................... 7
3 Product Specifications........................................................................................................................................... 8
4 Connections................................................................................................................................................... 9
4.1 Power..........................................................................................................................................................9
4.2 Electrical Configuration.............................................................................................................................. 9
4.3 Electrical Interface......................................................................................................................................9
5 Communications Protocols................................................................................................................................. 11
5.1 MSOP........................................................................................................................................................... 11
5.1.1 Header...........................................................................................................................................12
5.1.2 Data Field.......................................................................................................................................13
5.1.3 Tail..................................................................................................................................................14
5.1.4 Demonstration Data......................................................................................................................15
5.2 DIFOP........................................................................................................................................................ 16
5.3 UCWP........................................................................................................................................................16
6 GPS Synchronization............................................................................................................................................19
6.1 GPS Synchronization Theory.................................................................................................................... 19
6.2 GPS Usage.................................................................................................................................................19
7 Phase Lock........................................................................................................................................................... 20
8 Point Cloud.......................................................................................................................................................... 21
8.1 Coordinate Mapping................................................................................................................................ 21
8.2 Point Cloud Presentation......................................................................................................................... 21
9 Laser Channels and Vertical Angles.....................................................................................................................23
10 Calibrated Reflectivity....................................................................................................................................... 25
11 Trouble Shooting............................................................................................................................................... 26
Appendix A ▪ Point Time Calculate............................................................................................................................28
Appendix B ▪ Information Registers.......................................................................................................................... 29
B.1 Motor（MOT_SPD）.................................................................................................................................. 29
B.2 Ethernet（ETH）........................................................................................................................................ 29
B.3 Motor Phase Offset (MOT_PHASE)............................................................................................................. 30
B.4 Top Board Firmware (TOP_FRM).................................................................................................................30
B.5 Bottom Board Firmware (BOT_FRM).......................................................................................................... 30
B.6 Corrected Pitch (COR_PITCH)......................................................................................................................30
B.7 Serial Number（SN）................................................................................................................................. 31
B.8 Software Version（SOFTWARE_VER）...................................................................................................... 31
B.9 UTC Time（UTC_TIME）............................................................................................................................ 31
B.10 STATUS....................................................................................................................................................... 33
B.11 Fault Diagnosis.......................................................................................................................................... 33
B.12ASCII code in GPSRMC Packet....................................................................................................................35
Appendix C ▪ RSView................................................................................................................................................. 36

RS-LiDAR-16 User’s Manual
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C.1 Features....................................................................................................................................................... 36
C.2 Install RSView.............................................................................................................................................. 36
C.3 Set up Network............................................................................................................................................36
C.4 Visualize Streaming Sensor Data.................................................................................................................37
C.5 Capture Streaming Sensor Data to PCAP File............................................................................................. 38
C.6 Replay Captured Sensor Data from PCAP File.............................................................................................39
C.7 RS-LiDAR-16 Factory Firmware Parameters Setting....................................................................................42
C.8 RSView Data Port.........................................................................................................................................43
C.9 Firmware Online Update.............................................................................................................................44
C.10 Fault Diagnosis.......................................................................................................................................... 45
Appendix D ▪RS-LiDAR-16 ROS Package................................................................................................................. 47
D.1 Prerequisite................................................................................................................................................. 47
D.2 Install RS-LiDAR-16 ROS Package................................................................................................................ 47
D.3 Configure PC IP address.............................................................................................................................. 47
D.4 View the real time data...............................................................................................................................47
D.5 View the recorded pcap file offline............................................................................................................ 48
Appendix E ▪Dimensions........................................................................................................................................ 50
Appendix F LiDAR mechanical installation suggestion..............................................................................................52
Appendix G How to Distinguish the Port Number of MSOP and DIFOP Packets......................................................53

RS-LiDAR-16 User’s Manual
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Terminologies
MSOP
Main Data Stream Output Protocol
DIFOP
Device Info Output Protocol
UCWP
User Configuration Write Protocol
Azimuth
Horizontal angle of each laser firing
Timestamp
The marker that records the system time
Header
The starting part of the protocol packet
Tail
The ending part of the protocol packet

RS-LiDAR-16 User’s Manual
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Congratulations on your purchase of a RS-LiDAR-16 Real-Time 3D LiDAR Sensor. Please read carefully before
operating the product. Wish you a pleasurable product experience with RS-LiDAR-16.
1 Safety Notices
To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body.
Read Instructions - All safety and operating instructions should be read before operating the product.
Follow Instructions - All operating and use instructions should be followed.
Retain Instructions - The safety and operating instructions should be retained for future reference.
Heed Warnings - All warnings on the product and in the operating instructions should be adhered to.
Servicing - The user should not attempt to service the product beyond what is described in the operating
instructions. All other servicing should be referred to RoboSense.

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2 Introduction
RS-LiDAR-16, launched by RoboSense, is the first of its kind in China, world leading 16-beam miniature LiDAR
product. Its main applications are in autonomous driving, robots environment perception and UAV mapping.
RS-LiDAR-16, as a solid-state hybrid LiDAR, integrates 16 laser/detector pairs mounted in a compact housing.
Unique features include:
Measurement range of up to 150 meters
Within 2 centimeters measurement accuracy
Data rate of up to 320,000 points/second
Horizontal Field of View(FOV) of 360°
Vertical Field of View(FOV) of 30°
The compact housing of RS-LiDAR-16 mounted with 16 laser/detector pairs rapidly spins and sends out
high-frequency laser beams to continuously scan the surrounding environment. Advanced digital signal
processing and ranging algorithms calculate point cloud data and reflectivity of objects to enable the machine to
“see” the world and to provide reliable data for localization, navigation and obstacle avoidance.
Figure 1 RS-LiDAR Imaging System
Operation of device include:
Establish communication with RS-LiDAR-16；
Parse the data packets for azimuth, measured distance, and reported calibrated reflectivities;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical angle;
Store the data as needed;
Read current device configuration data;
Set Ethernet, time and rotational speed as needed.

RS-LiDAR-16 User’s Manual
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3 Product Specifications
Table 1 Product Parameters
Sensor
Time of Flight Distance Measurement
16 Channels
Measurement Range: 20cm to 150m (on 20% reflectivity target)
Accuracy: ±2cm (typical)
Field of View (Vertical): ±15.0° (30° in total )
Angular Resolution (Vertical): 2°
Field of View (Horizontal): 360°
Angular Resolution (Horizontal/Azimuth): 0.09°(5Hz) to 0.36°(20Hz)
Rotation Speed: 300/600/1200rpm (5/10/20Hz)
Laser
Class 1
Wavelength: 905nm
Beam Divergence Horizontal: 3.0mrad, Vetical: 1.2mrad
Output
Data Rate: 320,000 points/second
100Mbps Ethernet
UDP packet, include:
Distance
Rotation Angle/Azimuth
Calibrated Reflectivity
Synchronized Timestamp（Resolution: 1us）
Mechanical/
Electrical/
Operational
Power Consumption：9w (typical)
Operating Voltage: 12VDC （with Interface Box and Regulated Power
Supply）9-32VDC
Weight: 0.840Kg（without cable）
Dimensions: 109mm Diameter X 82.7mm Height
Protection Level: IP67
Operation Temperature: -10°C to +60°C

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4 Connections
4.1 Power
RS-LiDAR-16 can operate with 9 to 32 volt power. But standard 12 volt power is suggested. RS-LiDAR-16 requires
9 watts (typical) of power while operating.
4.2 Electrical Configuration
RS-LiDAR-16 comes with an integral cable(power/data) that is permanently attached to the sensor and
terminates at a standard SH1.1.25 wiring terminal. Figure 2 illustrates the serial pins and their properties.
To operate RS-LiDAR-16, the user should insert the SH1.25 wiring terminal to the corresponding port on the
Interface BOX.
Figure2 Wiring Terminal and Serialized Pin
4.3 Electrical Interface
The Interface BOX provides indicator LEDs for power, interfaces for power, 100Mbps Ethernet, and GPS inputs.
The DC 5.5-2.1 connector for power input, RJ45 Ethernet connector for RS-LiDAR-16 data output and SH1.0-6P
female connector for GPS input. We have two different appearance for the Interface BOX, but the interfaces on