RoboSense RS-LiDAR-16 User manual

RS-LiDAR-16 User Manual
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RS-LiDAR-16 User Manual
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Revision History
Revision
Content
Date
Edited by
1.0
Initial release
2017-03-01
RD
3.0
Fill in the content according to RS-LiDAR-16 1.0
hardware.
2017-05-10
RD
3.1
Modify the relationship 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
Add LiDAR installation suggestion
2018-06-25
PD

RS-LiDAR-16 User Manual
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4.1
Add the sensor clean instruction
Add the RSVIEW compatible instruction
Add the LiDAR cable route instruction
2018-08-04
PD
4.2
Refine LiDAR power supply considerations
Add the instruction of space between the LiDAR and
mounting brackets
Modify the DIFOP data format
Add laser eye safety level instructions
Add aviation connector description and definition
Add Interface Box connection diagram
Update GPS synchronization protocol description
Add RS232 to TTL adapter wiring diagram and PIN
definition
Add return mode description
Add information to fault diagnosis
Modify the UCWP data format and add the FOV
setting description
Update Appendix C RSView content
Add the description of distance resolution 0.5cm
Add the description of intensity mode 3
2019-04-25
PD
V4.3
This version of the manual is applicable to radars of
V4.0 and later versions. For radars of previous
versions of V4.0, please refer to the manual of version
4.2.
Modify the definition and schematic diagram of the air
interface
Add the cleaning reminder in harsh environments
Adapted to the V4.0 version of the LiDAR, the number
of points per second is modified from 320000/s to
~300000/s
Adapted to the V4.0 version of the LiDAR, the
horizontal resolution of the point cloud is modified
from 0.09° -0.36° to 0.1° -0.4°
Change the working temperature to -30°C -60°C
Adapted to the V4.0 version of the LiDAR, at the
accurate point time calculation in Appendix A, the
transmission interval between the channels of the
device is changed from 3 μs to 2.8 μs, and the block
time is changed from 50 μs to 55.5 μs
Add description of replacing LiDAR configuration file
in Ubuntu system
2019-07-10
PD

RS-LiDAR-16 User Manual
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Add GPS interface PIN definition of the V4.0 version
LiDAR’s interface box
4.3.1
Update electrical interface diagram
Add "LiDAR" to the network wiring definition
4.3.2
Correct some description faults
Add LiDAR mechanical installation suggestion
Update download address of RSView
Add LiDAR dimension diagram
Add footnote for specification in chapter 3
2019-12-11
PD
4.3.3
Replace the dimension drawing in Appendix E
Modify some descriptions
2020-02-18
PD

RS-LiDAR-16 User Manual
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TABLE OF CONTENTS
1 Safety Notices........................................................................................................................................................ 9
2 Introduction...........................................................................................................................................................10
3 Product Specifications........................................................................................................................................ 11
3.1 Product Format.........................................................................................................................................11
3.2 Accuracy.................................................................................................................................................... 12
4 Connections......................................................................................................................................................... 13
4.1 Power......................................................................................................................................................... 13
4.2 Electrical Configuration...........................................................................................................................13
4.3 Interface Box Description....................................................................................................................... 14
4.4 Interface Box Connection....................................................................................................................... 16
5 Communications Protocols................................................................................................................................17
5.1 MSOP.........................................................................................................................................................18
5.1.1 Header............................................................................................................................................19
5.1.2 Data Field.......................................................................................................................................20
5.1.3 Tail................................................................................................................................................... 22
5.1.4 Demonstration Data..................................................................................................................... 22
5.2 DIFOP........................................................................................................................................................ 24
5.3 UCWP........................................................................................................................................................ 25
6 GPS Synchronization..........................................................................................................................................28
6.1 GPS Synchronization Theory.................................................................................................................28
6.2 GPS Usage............................................................................................................................................... 28
7 Key Features........................................................................................................................................................30
7.1 Return Mode............................................................................................................................................. 30
7.1.1 Return Mode Principle................................................................................................................. 30
7.1.2 The Strongest Return...................................................................................................................30

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7.1.3 Strongest, Last and Dual Returns............................................................................................. 30
7.1.4 Return Mode Flag.........................................................................................................................30
7.2 Phase Lock............................................................................................................................................... 31
8 Point Cloud........................................................................................................................................................... 32
8.1 Coordinate Mapping................................................................................................................................ 32
8.2 Point Cloud Presentation........................................................................................................................32
9 Laser Channels and Vertical Angles................................................................................................................ 34
10 Calibrated Reflectivity.......................................................................................................................................36
11 Troubleshooting................................................................................................................................................. 38
Appendix A ▪ Point Time Calculate...................................................................................................................... 40
Appendix B ▪ Information Registers.....................................................................................................................41
B.1 Motor(MOT_SPD)....................................................................................................................................41
B.2 Ethernet(ETH).......................................................................................................................................... 41
B.3 FOV Setting (FOV SET).........................................................................................................................42
B.4 Motor Phase Offset (MOT_PHASE).....................................................................................................42
B.5 Top Board Firmware (TOP_FRM).........................................................................................................42
B.6 Bottom Board Firmware (BOT_FRM).................................................................................................. 43
B.7 Corrected Vertical Angle (COR_VERT_ANG).................................................................................... 43
B.8 Serial Number(SN)..................................................................................................................................44
B.9 Software Version(SOFTWARE_VER)..................................................................................................44
B.10 UTC Time(UTC_TIME).........................................................................................................................44
B.11 STATUS...................................................................................................................................................46
B.12 Fault Diagnosis......................................................................................................................................47
B.13 ASCII code in GPRMC Packet............................................................................................................48
Appendix C ▪ RSView............................................................................................................................................ 49
C.1 Features....................................................................................................................................................49
C.2 Install RSView..........................................................................................................................................49
C.3 Set up Network........................................................................................................................................ 49

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C.4 Visualize Streaming Sensor Data.........................................................................................................50
C.5 Capture Streaming Sensor Data to PCAP File.................................................................................. 51
C.6 Replay Captured Sensor Data from PCAP File................................................................................. 52
C.7 RS-LiDAR-16 Factory Firmware Parameters Setting....................................................................... 54
C.8 RSView Data Port................................................................................................................................... 56
C.9 Firmware Online Update........................................................................................................................ 56
C.10 Fault Diagnosis......................................................................................................................................57
Appendix D ▪ RS-LiDAR-16 ROS Package........................................................................................................59
D.1 Prerequisite.............................................................................................................................................. 59
D.2 Install RS-LiDAR-16 ROS Package.....................................................................................................59
D.3 Configure PC IP address....................................................................................................................... 59
D.4 View the real time data...........................................................................................................................59
D.5 View the recorded pcap file offline....................................................................................................... 60
Appendix E ▪ Dimensions......................................................................................................................................62
Appendix F ▪ LiDAR Mechanical Installation Suggestion................................................................................ 63
Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets.................................... 64
Appendix H ▪ Sensor clean................................................................................................................................... 65
H.1 Attention.................................................................................................................................................... 65
H.2 Require Materials.................................................................................................................................... 65
H.3 Clean Method...........................................................................................................................................65

RS-LiDAR-16 User 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 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.
Laser safety - The laser safety complies with IEC 60825-1:2014.
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.

RS-LiDAR-16 User Manual
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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, robot-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 300,000 points/second
Horizontal Field of View (FOV) of 360°
Vertical Field of View (FOV) of 30° (-15°~+15°)
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 reflectivity;
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.