18
Note 2):
If timeout appears, it means that the driver has no data reception. Please check
the hardware connection.
Note 3)
: If steps 1, 2, and 3 have been completed, next time after the “Displays Window”
is reopened, start directly from step 4.
Step 5.
Display the data detected by the Lidar
In the “Displays Window” that pops up, modify the value of "Fixed Frame" to
“laser_link”. Click the “Add” button at the same time, and click “PointCloud2” under
“By topic” to add a multi-line point cloud node.
Note
: If the lidar destination port and IP are changed, please open “lslidar_ch.launch”
to modify the configuration accordingly. The default data packet port is 2368, the device
packet port is 2369, and the IP address is 192.168.1.200.
5. Communication Protocol
Lidar data output and configuration use 100M Ethernet UDP/IP communication
protocol. There are 3 UDP packet protocols, among which the packet length of the Main
data Stream Output Protocol is 1254 bytes (42 bytes Ethernet header and 1212 bytes
payload), and the packet length of the Device Information Output Protocol and the User
Configuration Write Protocol is both 1248 bytes (42 bytes Ethernet header and 1206
bytes payload).
The communication protocols of the Lidar are:
Main data Stream Output Protocol (MSOP):
outputting the distance, angle, intensity
and other information measured by the Lidar;
Device Information Output Protocol (DIFOP):
outputting the current status of Lidar
and accessory equipment and various configuration information;
User Configuration Write Protocol (UCWP):
setting the configuration parameters of
the Lidar.
Table 5.1 UDP Packet Protocol
Protocol Name
Abbreviation
Function
Length
Transmission Interval
Main data Stream
Output Protocol
MSOP
Outputting measured
data and timestamp
1254 bytes
About 0.143 ms
Device Information
Output Protocol
DIFOP
Outputting parameter
configuration and
status information
1248 bytes
1s (for 1 packet)
User Configuration
Write Protocol
UCWP
Inputting user
configured device
parameters
Not Fixed
