RoboSense LiDAR RS-Bpearl, User Manual

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RS-Bpearl User manual
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5.2.Main Data Stream Output Protocol
（
MSOP
）
Main data Stream Output Protocol is abbreviated as MSOP
I/O type: device output, computer analysis
Default port number: 6699
5.2.1. Header
The header has 42 bytes and is used to identify the beginning of the UDP data packet. The
structure of the Header is as shown in the table below:
Among the 42 bytes of the UDP header of the RS-BPearl_2.0, the beginning 8 byts are for the
header identification. For the rest 34 bytes, byte 21 to byte 30 are time stamps, byte 31 identifies
the LiDAR model, the rest bytes are reserved bytes.
The header of the RS-BPearl_3.0 is defined as shown in the table below:
Table 5-2 RS-Bpearl_3.0 MSOP Header Definition
Header
（
42bytes
）
Field Offset Length
（
byte
）
Definition
Header ID 0 8
Header ID, 8 bytes in length, used for packet
header identification, defined as
0x55,0xAA,0x05,0x0A,0X5A,0XA5,0X50,0XA0
Checksum 8 4 For internal packet check use
Packet Count 12 4 Packet count
Resv 16 4 Reserved for future updates
Time Stamp 20 10
Store timestamps, Appendix B.10 provides
specific definition
LiDAR Model 30 1
Identify LiDAR model
0x01:RS-LiDAR-16
0x02:RS-LiDAR-32
0x03:RS-Bpearl
0x04:RS-Ruby
0x05:RS-Ruby Lite