RoboSense RS-Ruby User manual

RS-Ruby Users’ Manual
1

RS-Ruby Users’ Manual
Revision History
Revision Number
Description
Date
Edited by
1.0
Initial release
2019-11-20
PD

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

RS-Ruby Users’ Manual
Appendix F Clean of LiDAR......................................................................................................... 35
F.1 Attention............................................................................................................................ 35
F.2 Required Materials.......................................................................................................... 35
F.3 Clean Method................................................................................................................... 35

RS-Ruby Users’ Manual
1
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.
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 Users’ Manual
2
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 0.1°
Accuracy ± 5 centimeter
Data rate up to 2,304,000 points/second
Horizontal field of view (FOV) of 360°
Vertical field of view (FOV) of -25°~15°
128 emitters in RS-Ruby 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 Imaging.
The operating Instructions of LiDAR:
Connecting the device of RS-Ruby;
Parsing the data packets, in order to capturing the values of azimuth, measuring
distance and calibrated reflectivity;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical
angle;
Storing the data of point cloud according to demand;
Checking the status of set-up information of device;
Resetting the status of network configuration, timing and rotation speed according to
demand.

RS-Ruby Users’ Manual
3
3 Product Specifications1
Table 1. Product Parameters.
Sensor
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)/0.4°
(20 Hz)
Rotation speed: 600/1200 rpm (corresponding to 10/20 Hz)
Laser
Class 1
Wave length: 905nm
Full angle of beam divergence:
horizontal 1.5 mrad, vertical 3.6 mrad
Output
Data rate: ~2.3 million points/second
1000Base-T1 Ethernet
Communication protocol: UDP
The Information that is included in Data Segment:
Distance
Rotation angle/Azimuth
Calibrated reflectivity
Synchronized timestamp (Timer resolution 1 μs)
Mechanical/
Electrical/
Operational
Power consumption: 45 W(typical)4
Working voltage: 9-32 VDC (19V is recommended)
Weight: 3.75kg (without cable)
Dimensions: Diameter 166mm × Height 148.5mm
Ingress Protection Rating: IP67
Operation temperature: -40℃~+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 160 m 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.
5Device operating temperature is depending on circumstance, including but not limited to
ambient lighting, air flow and pressure etc.

RS-Ruby Users’ Manual
4
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. 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
22
White/Blue
Reserved serial signal
23
Yellow/Green
GPS_PULSE

RS-Ruby Users’ Manual
5
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.
Another interface is a DC 5.5~2.1 connector for power input. The last one is a RJ45
Ethernet connector for RS-Ruby data transport.
PIN No.
function
1
GPS_PULSE
2
+5V
3
GND
4
GPS_REC
5
GND
6
NC
Figure 3. Interface Definition of Interface Box.
Note: When RS-Ruby 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 lighted. Meanwhile the green LED which indicates the power output status will be
lighted, when the power output is in order. While red LED is bright and green LED is dark,
Interface Box is in Protection status. While red and green LEDs are all dark, please check
whether the power supply is out of order or damaged. If it is intact, that could prove that
the Interface Box is damaged. Please send the damaged Interface Box back to