Hesai PandarXT, User Manual

Page: 33 / 85

- 31 -
3.1 Point Cloud Data Packet
3.1.1 Ethernet Header
Each lidar has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 255.255.255.255 (broadcast).
Point Cloud Ethernet Header: 42 bytes
Field Bytes Description
Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type 2 bytes 0x08, 0x00
Internet Protocol 20 bytes Shown in Figure 3.2
UDP Port Number 4 bytes UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368)
UDP Length 2 bytes 0x0440, representing 1088 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in
Figure 3.1)
UDP Checksum 2 bytes Shown in the figure below
Figure 3.2 Point Cloud Ethernet Header - Internet Protocol