RoboSense RS-LiDAR-M1, User Manual, Page: 6 / 54

·
RS-LiDAR-M1 User Guide
2 Communication Protocol
The communication between RS-LiDAR-M1 and the computer is through Ethernet,
and uses UDP protocol. There are two types of output packets: MSOP packet and DIFOP
packet. All MSOP packets involved in this document are with fixed length of 1210 bytes,
DIFOP packets are with fixed length of 256 bytes. In single return mode, the output data
includes 6300 MSOP packets and 1 DIFOP packet, which demands the data transfer rate
no less than 58.2 Mbps. In dual return mode, the rate must be no less than 116.4 Mbps.
RS-LiDAR-M1 network parameters are configurable, and the factory default IP and fixed
client port number are set as listed in the table below:
Table 2: Factory default network configuration
IP Address MSOP Port
Number
DIFOP Port
Number
RS-LiDAR-M1 192.168.1.200 / /
Computer 192.168.1.102 6699 7788
The default MAC address of the LiDAR is initially set at the factory, and the MAC
address of each LiDAR is unique.
When using the LiDAR, you need to set the computer's IP to the same network
segment as the LiDAR, for example, 192.168.1.x (the range of x is 1~254), and the subnet
mask as 255.255.255.0. If you don't know the network configuration information of the
LiDAR, please set the host computer subnet mask to 0.0.0.0, connect to the LiDAR and
use Wireshark to capture the LiDAR output packet for analysis.
The communication protocol between RS-LiDAR-M1 and the computer is mainly
divided into two categories. See the table below for the protocol list.
 The main data stream output protocol (MSOP), encapsulates the distance, angle,
reflectivity and other information measured by the LiDAR into a package and outputs
it to the computer;
 LiDAR information output protocol (DIFOP), outputs various configuration
information of the LiDAR currently in use to the computer.
Table 3: List of communication protocols
Protocol Abbreviation Function Type Packet size
Main Data Stream Output MSOP Output measured UDP 1210 Bytes