RoboSense RS-Ruby Lite User manual

RS-Ruby Lite Users’ Manual

RS-Ruby Lite Users’ Manual
I
Revision History
Version Number
Description
Date
Edited by
1.0.0
Initial release
2020-08-03
PD

RS-Ruby Lite Users’ Manual
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Terminology
MSOP
Main data Stream Output Protocol
DIFOP
Device Information Output Protocol
FOV
Field of View
PTP
Precision Time Protocol
NTP
Network Time Protocol
GPS
Global Positioning System
UTC
Universal Time Coordinated
Wave_mode
Flag of Wave Mode
Temp
Temperature Information
Resv
Reservation
Symbol
Symbol Bit
Ret_id
Identification of Return Wave
Azimuth
Horizontal Angle of LiDAR
Timestamp
Time Point of Encapsulation of a UDP Packet
Header
The Header of a UDP Packet
Tail
The Tail of a UDP Packet
Thermolysis
Loss of Heat from the Object

RS-Ruby Lite Users’ Manual
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TABLE OF CONTENTS
1 Safety Notice..................................................................................................................................1
2 Introduction.....................................................................................................................................2
3 Product Specifications..................................................................................................................3
4 Interface.......................................................................................................................................... 4
4.1 Power Supply..................................................................................................................... 4
4.2 Data Output Interface of LiDAR...................................................................................... 4
4.3 Interface Box...................................................................................................................... 5
4.4 Interface Box Connection.................................................................................................6
5 Communication Protocol..............................................................................................................7
5.1 MSOP.................................................................................................................................. 8
5.1.1 Header......................................................................................................................9
5.1.2 Data Field................................................................................................................ 9
5.1.3 Tail...........................................................................................................................10
5.1.4 MSOP Data Package.......................................................................................... 10
5.2 DIFOP................................................................................................................................11
6 Time Synchronization.................................................................................................................13
6.1 GPS Synchronization......................................................................................................13
6.1.1 Principle of GPS Synchronization..................................................................... 13
6.1.2 GPS Usage........................................................................................................... 13
6.2 Precision Time Protocol (PTP)...................................................................................... 14
6.2.1 Principle of PTP....................................................................................................14
6.2.2 Topology of PTP................................................................................................... 14
6.2.3 Time Calculation...................................................................................................15
7 Key Specifications...................................................................................................................... 17
7.1 Return Mode.....................................................................................................................17
7.1.1 The Principle of Return Mode............................................................................ 17
7.1.2 Strongest Return.................................................................................................. 17
7.1.3 Strongest, Last and Dual Return Signal.......................................................... 17
7.1.4 Return Mode Flag................................................................................................ 17
7.2 Phase Lock....................................................................................................................... 17
8 Point Cloud...................................................................................................................................19
8.1 Coordinating Mapping.................................................................................................... 19
8.2 Laser Channel in Spatial Distribution...........................................................................20
9 Reflectivity.................................................................................................................................... 23
10 Troubleshooting........................................................................................................................ 24
Appendix A Websever................................................................................................................... 26
A.1 Visiting Websever........................................................................................................... 26
A.2 Parameter Setting........................................................................................................... 27
A.3 Device Diagnose/ Operating Status............................................................................ 28
A.4 Firmware Update.............................................................................................................29
Appendix B The Format of all Register...................................................................................... 30
B.1 Motor Speed (MOT_SPD)............................................................................................. 30

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B.2 Ethernet (ETH)................................................................................................................ 30
B.3 FOV Setting (FOV SET)................................................................................................ 31
B.4 Motor Phase Offset (MOT_PHASE)............................................................................ 31
B.5 Top Board Firmware (TOP_FRM)................................................................................ 31
B.6 Bottom Board Firmware (BOT_FRM)..........................................................................31
B.7 Software Version (SOF_FRM)...................................................................................... 31
B.8 Corrected Vertical Angle (COR_VERT_ANG).........................................................32
B.9 Corrected Horizontal Offset Angle (COR_HOR_ANG)..........................................33
B.10 Serial Number (SN)...................................................................................................... 34
B.11 Time (UTC_TIME).........................................................................................................34
B.12 ASCII code in GPSRMC Packet................................................................................ 34
Appendix C RSView...................................................................................................................... 35
C.1 Software Features.......................................................................................................... 35
C.2 Installation of RSView.................................................................................................... 35
C.3 Network Setup.................................................................................................................35
C.4 Visualization of point cloud............................................................................................36
C.5 Save Streaming Sensor Data into PCAP File............................................................37
C.6 Replay Recorded Sensor Data from PCAP Files......................................................38
Appendix D RS-Ruby Lite ROS&ROS2 Package.................................................................... 41
D .1 Software Installation......................................................................................................41
D.2 Download & Compile RS-Ruby Lite ROS Package..................................................41
D.3 Configure PC IP address...............................................................................................42
D.4 Display of the real-time data......................................................................................... 42
D.5 Display offline data......................................................................................................... 43
Appendix E Dimension.................................................................................................................. 44
Appendix F Suggestion of Mechanical LiDAR Mount.............................................................. 45
Appendix G Cleaning of LiDAR................................................................................................... 46
G.1 Attention........................................................................................................................... 46
G.2 Required Materials......................................................................................................... 46
G.3 Cleaning Method.............................................................................................................46

RS-Ruby Lite Users’ Manual
1
Congratulations on your purchase of a RS-Ruby LiDAR Sensor. Please read carefully this
User’s Manual 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, Please do not
privately open the housing and modify the structure of LiDAR.
Laser safety-The laser safety complies with IEC60825-1:2014:
Read Instructions - All safety and operating instructions should be read before operating
the product.
Caution - Warning hot surface.
Follow the 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.
Maintenance - The user should not attempt to maintain the product beyond what is
described in the operating instructions. All other Maintenance should be referred to
RoboSense.

RS-Ruby Lite Users’ Manual
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2 Introduction
RS-Ruby Lite, the 80-beam LiDAR developed by RoboSense, is the world leading multi-beam
LiDAR that is particularly utilized in perception of environment for autonomous driving.
RS-Ruby Lite is realized by solid-state hybrid LiDAR. The technical details are listed below:
measurement rang: 230 meters
accuracy: ± 5 centimeter
Data rate: up to 1,440,000 points/second (signal return)
Horizontal field of view (FOV): 360°
Vertical field of view (FOV): -25°~15°
80 emitters in RS-Ruby Lite can supply high-frequency laser impulse to scan environment
around LiDAR by rapidly spinning optical module. 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
perception.
Figure 1: Representation of RS-Ruby Lite Imaging.
The basic operating Instructions of LiDAR:
Connect the device of RS-Ruby Lite with PC;
Parse the data packets to capture the values of azimuth, measure distances and
calibrated reflectivity;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical
angle;
Store the data of point cloud according to demand;
Check the status of set-up information of device;
Reset the status of network configuration, timing and rotation speed according to
demand.

RS-Ruby Lite Users’ Manual
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3 Product Specifications1
Table 1: Product Parameters.
Sensor
TOF measuring distance, including the reflectivity
80 channels
Range: from 1.5m to 230m (160m@10%NIST)2
Accuracy: ±5cm (typical value)3
FOV(vertical): -25°~+15°
Angle resolution(vertical): at least 0.1°
FOV (horizontal): 360°
Angle resolution (horizontal/ azimuth): 0.1°(5Hz)/0.2° (10 Hz)/0.4° (20 Hz)
Rotation speed: 300/600/1200 rpm (corresponding to 5/10/20 Hz)
Laser
Class 1
Wavelength: 905nm
Full angle of beam divergence: horizontal 1.5 mrad, vertical 3.6 mrad
Output
Data rate: ~1.44 million points/second
1000M Base Ethernet LAN interface
Communication protocol: UDP
The Information that is included in Data Segment:
Distance
Rotation angle/Azimuth
Calibrated reflectivity
Timestamp (Timer resolution 1 us)
Mechanical/
Electrical/
Operational
Power consumption: 38 W(typical)4
Working voltage: 19-32 VDC (19V is recommended)
Weight: 3.75kg
Dimensions: Diameter 166mm × Height 148.5mm
Ingress Protection Rating: IP67
Operation temperature: -30℃~+60℃5
Storage temperature: -40℃~+85℃
1The following data is only for mass-produced products. Any samples, testing machines and other
non-mass-produced versions may not be referred to this specification. If you have any questions, please
contact RoboSense sales.
2The measurement target of rang is a 10% NIST Diffuse Reflectance Calibration Targets, the test
performance is depending on circumstance factors, not only temperature, range and reflectivity but also
including other uncontrollable factors.
3The measurement target of accuracy is a 50% NIST Diffuse Reflectance Calibration Targets, the test
performance is depending on circumstance factors, not only temperature, range and reflectivity but also
including other uncontrollable factors.
4The test performance of power consumption is depending on circumstance factors, not only
temperature, range and reflectivity but also including other uncontrollable factors.
5The operating temperature is depending on circumstance factors, not only light condition, air flow but
also including other uncontrollable factors.

RS-Ruby Lite Users’ Manual
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4 Interface
4.1 Power Supply
The supply voltage should remain in the range of 19~32 VDC with utilization of Interface-Box.
The recommend supply voltage is 19 VDC. The power consumption is about 38 W.
4.2 Data Output Interface of LiDAR
The data output access of RS-Ruby Lite is physically protected by an aviation terminal
connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins of
the aviation terminal connector are defined as follow:
Pin
Wire Color
Function
1
Black/Brown
GROUND
2
Black
Gigabit network differential signal
3
Brown
Gigabit network differential signal
4
Black/Green
GROUND
5
Red
Gigabit network differential signal
6
Orange
Gigabit network differential signal
7
White/Orange
GROUND
8
Yellow
Gigabit network differential signal
9
Green
Gigabit network differential signal
10
White/Purple
GROUND
11
Blue
Gigabit network differential signal
12
Purple
Gigabit network differential signal
13
Yellow/Brown
GROUND
14
Black/Red
GROUND
15
Black/Orange
PWR
16
Black/Yellow
PWR
17
White/Black
PWR
18
White/Brown
PWR
19
White/Red
PWR
20
White/Yellow
PWR
21
White/Green
Reserved serial signal

RS-Ruby Lite Users’ Manual
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22
White/Blue
Reserved serial signal
23
Yellow/Green
GPS_PULSE
24
Yellow/Gray
GPS_REC
25
Yellow/Blue
Reserved signal
26
Yellow/Purple
GROUND
Figure 2: Aviation Connector Pin Number of RS-Ruby Lite.
4.3 Interface Box
In order to connect the RS-Ruby Lite conveniently, there is an interface box provided.
There are accesses for power supply, Ethernet and GPS on the Interface Box. Meanwhile,
there are also indicator LEDs for checking the status of power supply.
For those accesses, a SH1.0-6P female connector is the interface for GPS signal input.
Another interface is a DC 5.5~2.1 female connector for power input. The last one is a Rj45
Ethernet connector for RS-Ruby Lite data transport. The cable on Interface-Box with Aviation
connector is 3m. If you have other requests for cable length, please contact technical support
of RoboSense. The definition of GPS PIN map and corresponding voltage level are shown as
follow:
Pin No.
Function
1
GPS_PULSE
2
+5V
3
GND
4
GPS_REC
5
GND
6
NC
Figure 3: Interface Definition of Interface Box.
Notice: When RS-Ruby Lite connects its grounding system with an external system, the
external power supply system should share the same grounding system with that of the GPS.
When the power input is in order, the red LED which indicates the power input status will be