RoboSense LiDAR RS-Bpearl, User Manual

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RS-Bpearl User manual
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1. Calculate distance based on distance data in the data packet:
1
）
Find the distance value in the data packet and convert to a hexadecimal number: 0x02, 0x76
2
）
Convert to a 16-bit unsigned integer: 0x0276
3
）
Convert to a decimal number: 630
Divide by 100 to obtain the actual value: 6.30
4
）
Calculate according to the distances resolution
5
）
Result: 6.30*0.5 = 3.125m.
2. Calculate azimuth based on azimuth data in the data packet:
1
）
Find the azimuth value in the data packet and convert to a hexadecimal number: 0x5c, 0x19
2
）
Convert to a 16-bit unsigned integer: 0x5c19
3
）
Convert to a decimal number: 23577
Divided by 100
。
4
）
Result
：
235.77 degrees
5.2.2.2. Azimuth Value
The azimuth value of each data block is the azimuth value reported by the first laser of the firing
sequence of this data block. Azimuth value is recorded by angle encoder with the zero position of
the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is
0.01 degrees.
5.2.3. Tail
The Tail is 6 bytes in length, among which 4 bytes are reserved, and the other 2 bytes are 0x00
and 0xFF.
5.3.Device Info Output Protocol
（
DIFOP
）
Device Info Output Protocol is abbreviated as DIFOP
I/O type: device output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware
version information, host computer driver compatibility information, network configuration
information, calibration information, motor operating configuration, operating status, and fault
diagnosis information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
The basic structure of the DIFOP packet is as shown in the table below.