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Neuvition Lidar User Manual

Titan M-Series Lidar

Product User Manual

Содержание Titan M Series

Страница 1: ...Neuvition Lidar User Manual Titan M Series Lidar Product User Manual...

Страница 2: ...hnology Xiamen Co Ltd is not responsible for any damage caused by the use of illegally modified or altered publications Notice In order to reduce the risk of electric shock and avoid violating the war...

Страница 3: ...1 Client Operation Update 2021 01 08 Ivan V1 2 Add Lidar Firmware Upgrade Procedure Steps 2021 3 18 Ivan V1 3 Update ROS Driver package download address 2021 5 24 Ivan V1 4 changed ROS driver package...

Страница 4: ...scription 16 1 functional area 16 2 point cloud display area 17 3 Operation area 17 5 3 operation process 18 5 4 Detailed introduction of main functions 19 6 Client use in ROS environment 23 1 Ros dri...

Страница 5: ...connecting line align the insertion and turn the nut on the connector Rotate and lock Figure 2 Schematic diagram of Lidar connection Figure 3 Power supply pin definition Figure 4 Gigabit Ethernet pin...

Страница 6: ...nput 9 60V 3 GND Input Power Ground Input 4 GND Input power ground input Gigabit Ethernet 1 BI_D3 Gigabit Ethernet input outpu t 2 BI_D4 input outpu t 3 BI_D4 input outpu t 4 TX_D1 output 5 RX_D2 inpu...

Страница 7: ...Neuvition Lidar User Manual 2 Product structure diagram Figure 5 Product structure diagram...

Страница 8: ...n Figure 6 The base installation diagram As shown in Figure 6 the Lidar is equipped with a mounting base optional before leaving the factory It only needs 4 M6 hexagon socket screws with a length of 1...

Страница 9: ...e fixed platform to facilitate the heat dissipation of the Lidar 4 Network configuration 4 1 Overview Titan M1 Lidar adopts standard Ethernet interface for input and output and the factory default sta...

Страница 10: ...n fill in 192 168 1 xxx in the address bar refer to Figure 9 avoid using 192 168 1 101 this IP is the default IP address of the Lidar Figure 9 Ubuntu Ethernet connection editing interface 4 3 Windows...

Страница 11: ...onnection interface 3 In the pop up Ethernet properties window left click to select Internet Protocol Version 4 TCP IPv4 and then click Properties below Figure 12 WIN10 Ethernet Properties Interface 5...

Страница 12: ...ecessary to avoid the address of 192 168 1 101 being occupied by the devices connected to the router If the IP address is occupied you need to modify the address of the the device occupied or unplug t...

Страница 13: ...cted to the Lidar network access the Lidar IP address through a browser such as the factory default IP 192 168 1 101 and switch to the Device interface click Edit in the IP Address column Figure 16 Ti...

Страница 14: ...ault is the next step After installation the software Neuvition Viewer can be found on the desktop and in the start menu 5 2 Software interface description Figure 18 Neuvition Viewer client interface...

Страница 15: ...CP Multicast TCP operates Lidar UDP obtains data Only Multicast only obtains point cloud data through udp multicast PCD Format selects PCD file to save internal data mode ASIIC code BINARY binary PCD...

Страница 16: ...process 1 As described in Chapter 6 Network Configuration the computer and the Lidar network are successfully connected click the Setting interface enter the IP address of the Lidar in the Host IP te...

Страница 17: ...er of frames displayed per second supports 1 30 frames per second The higher the frame rate the fewer the number of frames per second but the better the dynamic effect The normal recommendation is 10...

Страница 18: ...e used as the basis for judging the distance There are null level no grid display 1m 5m 10m and 20m files Among them 1m and 5m grids are suitable for short distance observation and the maximum extensi...

Страница 19: ...der under the client installation path 9 Snapshot in the process of displaying the point cloud click the snapshot button in the function area to save the current point cloud to the local computer and...

Страница 20: ...t cloud recording option box 12 To play the neuv point cloud stream click the neuv Viewer in the functional area open the neuv file to be played click Play to start playing select the playback speed a...

Страница 21: ...the ros environment and open the Rviz client A Open another terminal on the desktop enter roslaunch neuvition_driver neuvition_driver launch this command is to run the ros program B open another termi...

Страница 22: ...r neuvition_cloud and the image under neuvition_image you can display the Lidar point cloud data and video in real time 3 Parameter modification A path computer opt ros kinetic share neuvition_driver...

Страница 23: ...aml and then enter the computer power on password In this parameter table only the following usually need to be modified Several parameters a laser_period repetition rate 0 means 200KHZ 1 means 340KHZ...

Страница 24: ...be saved in this file by default enter rosbag record neuvition_cloud this command is to record the point cloud video press ctrl c to stop recording B If you want to record the point cloud video open t...

Страница 25: ...new terminal and enter the command ros rviz rviz to enter the main interface of rviz 4 Enter neuvition in Fixed Frame The middle part is the 3D view display area which can display external informatio...

Страница 26: ...Size is 50 it means that the distance of a grid is 50 meters Line style line type Color color Alpha coordinate line transparency Plane coordinate Axis XY XZ YZ adjustable coordinate axis Offset offse...

Страница 27: ...4 New display window To add a display click the The Add button will then pop up a dialog box select one of the display windows and click OK to display the corresponding window on rviz...

Страница 28: ...dar ip in the webpage the default Lidar ip 192 168 0 101 2 Click Upgrade Click to select the file select the Lidar firmware upgrade package to be upgraded and then click upgrade Now for example Neu Ti...

Страница 29: ...4 After clicking Return Now wait for the page to jump 5 Re enter Lidar ip192 168 1 101 to confirm whether the firmware upgrade is successful...