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RS-Helios-16P User Manual 

                                                                                                                                                                                                             

 

51 

Appendix D RS-Helios-16P 

ROS&ROS2 

Package 

This  appendix  explains  how  to  use  ROS  or  ROS2  to  acquire  and  visualize  RS-

Helios-16P data. 

D.1 Install Software 

1.

 

Download and install Ubunutu 16.04 /18.04/20.04 operating system. (ROS2 users are imperative 

to use the Ubuntu 18.04/20.04 system) 

2.

 

ROS  users:  Install  and  test  the  basic  functions  of  ROS  Kinetic  according  to  the  link 

(

http://wiki.ros.org/kinetic/Installation

 ). (For Ubuntu 18.04 users, please install ROS-melodic) 

ROS2  users:  Install  and  test  the  basic  functions  of  ROS2  Eloquent  according  to  the  link 

(

https://index.ros.org/doc/ros2/Installation/Eloquent/

). 

3.

 

Download and install 

libpcap-dev.

 

D.2 Download & Compile RoboSense LiDAR Driver Package 

You can get the latest LiDAR driver package from 

https://github.com/RoboSense-

LiDAR/rslidar_sdk

, or contact our technical support to get it. After downloading, please read the

 

README

 file in the driver package carefully, which describes in detail how to compile and use the 

LiDAR driver package. 

rslidar_sdk is our latest LiDAR driver package, which has included drivers for five mechanical 

LiDAR sensors: RS-16, RS-32, RS-BP, RS-Ruby and RS-Helios-16P. Three compilation modes are 

supported: 

1.

 

Direct Compilation 

The user enters the main directory of the rslidar_sdk driver package and creates a build folder to 

compile and run. 

 

mkdir build 

cd build 

cmake .. && make 

./rslidar_sdk_node

 

2.

 

Compilation in ROS 

Create ros working directory: 

cd ~ 

mkdir -p catkin_ws/src 

Copy  the  rslidar_sdk  driver  package  to  the  ROS  working  directory  ~/catkin_ws/src.  Open  the 

CMakeLists.txt  file  in  the  rslidar_sdk  driver  package,  and  change  the  set(COMPILE_METHOD 

ORIGINAL) at the top of the file to set(COMPILE_METHOD CATKIN). At the same time, rename the 

package_ros1.xml  file  in  the  driver  package  to  package.xml.,  and  change  the  LiDAR  type  in  the 

Содержание LiDAR Helios-1615

Страница 1: ...RS Helios 16P User Manual RS Helios 16P...

Страница 2: ...6P User Manual I Revision History Issue Modifications Release Date Edited by 1 0 0 Original issue 2022 5 9 RD 1 0 1 1 Updated Time Synchronization description 2 Updated Firmware Version description 20...

Страница 3: ...Protocol version number 00 represents old version 01 represents the latest version Temp Sensor temperature information Resv Reserved data flag Azimuth LiDAR horizontal rotation angle Timestamp Time st...

Страница 4: ...e Flag 13 5 5 Phase Locking 13 5 6 Time Synchronization 14 5 6 1 GPS Time Synchronization 14 5 6 2 The Use of GPS for Time Synchronization 14 5 6 3 PTP Time Synchronization 15 5 6 4 PTP wiring Method...

Страница 5: ...STATUS STATUS 41 B 15 Fault Diagnosis FALT_DIGS 42 B 16 GPRMC Data Packet ASCII Code Data Type 43 Appendix C RSView 44 C 1 Software Features 44 C 2 Install RSView 44 C 3 Set Up Network 45 C 4 Visualiz...

Страница 6: ...ity This manual is protected by copyright Any rights arising from this copyright are owned by RoboSense Reproduction of this manual or part of the manual is only permitted within the legal scope of th...

Страница 7: ...ase pay attention to the overheating sign on the LiDAR surface to avoid a hot LiDAR surface that may lead to sensor failure or undesirable consequences Retain Instructions The safety and operating ins...

Страница 8: ...s Series Products No Model Number of Channels FOV Remark 1 Helios 5515 32 55 15 Wide FOV 2 Helios 1615 32 16 15 Uniform 1 Vertical Resolution 3 Helios 16P 16 15 15 Uniform 2 Vertical Resolution This m...

Страница 9: ...Color Function Operating Voltage Range Working Current Other 1 Red PWR 9 32V 1 2A 2 Black PWR 3 Gray GND 1 2A 4 Blue GND 5 Brown GPS_PPS 3 15V 6 White GPS_GPRMC 15V 15V 7 Purple SYNC_OUT1 0 3 3V 8 Gr...

Страница 10: ...Interface Box is a standard DC 5 5 2 1 connector There are 2 LEDs in the Interface Box when the power input is normal the red LED lights up when the power output is normal the green LED lights up If...

Страница 11: ...d in the figure below Table 2 GPS Port Definition Pin No Function 1 GPS_PPS 2 5V 3 GND 4 GPS_GPRMC 5 GND 6 SYNC_OUT1 Note When the ground of RS Helios 16P is connected to an external system the negati...

Страница 12: ...Interface Box 3M 1 3 Power Adapter DC12Vx3 34A 40W 1 4 Power Cable 1 2M 1 5 Ethernet Cable 1 5M 1 6 Screw Pack M3X8 4 M3X12 4 Note There might be variants of the sensor and accessories that you are go...

Страница 13: ...n should be 4 5mm above the mounting surface Figure 5 LiDAR Mounting Holes Locating Holes Diagram Mounting Bracket Rigidity Requirements The mounting bracket where the LiDAR is attached to should be r...

Страница 14: ...e sure not to pull the cable too tightly and keep the cables in a slack state 4 3 Quick Connection Users are allowed to configure the network settings of the RS Helios which is set at the factory with...

Страница 15: ...RS Helios 16P User Manual 9 The wiring diagram of the Interface Box connection is as shown in the figure below Figure 6 Interface Box Connection To PC Network To GPS Interface Box To power adapter...

Страница 16: ...ity Measurements Time Stamps Mechanical Operating Voltage 9V 32V Dimension 97 5mm H100 mm Power Consumption 11W Typical Operating Temperature3 30 to 60 Weight 0 99kg LiDAR body Storage Temperature 40...

Страница 17: ...nformation in polar coordinates need to be converted into x y z coordinates in the Cartesian coordinate system and the conversion formula is as follows Where is the measured distance is the vertical a...

Страница 18: ...ection reports the reflectivity value of 255 Figure 7 Definition of Reflectivity 5 4 Laser Return Modes 5 4 1 Principle of Laser Return Modes RS Helios 16P supports multiple laser return modes namely...

Страница 19: ...rongest and last return will be reported 2 When the strongest return is the last return the strongest return and the second strongest return will be reported 5 4 2 Return Mode Flag The RS Helios 16P i...

Страница 20: ...eb Interface RS Helios 16P can be connected to an external GPS module and can synchronize the sensor system time with the time provided by the GPS 5 6 1 GPS Time Synchronization Figure 9 GPS Time Sync...

Страница 21: ...udinal hemisphere E east longitude or W west longitude 7 Speed over the ground knots 8 Track made good degrees True 9 UTC date 10 Magnetic declination 11 Magnetic declination direction E east or W wes...

Страница 22: ...rface please see Appendix A 2 Web Interface configuration 2 Prepare a PTP Master timing host plug and play no additional configuration required 3 Ethernet switch 4 Device supporting PTP protocol Figur...

Страница 23: ...248 bytes Note The following sections describe and define the valid payload 1248byte of the protocols 1 The main data stream output protocol MSOP encapsulates the distance angle reflectivity and other...

Страница 24: ...Resv 6 2 Top Board Sending Packet Count 8 4 4 Bytes in total form a sequence with a increment of 3 Bottom Board Sending Packet Count 12 4 Resv 16 1 Range Resolution 17 1 1 0 25cm 0 0 5cm Angle pulse i...

Страница 25: ...2 byte flag Oxffee followed by a 2 byte azimuth value horizontal rotation angle and 32 channel data each channel data has 3 bytes corresponding to 2 firing sequences of the 16 lasers channel data 1 to...

Страница 26: ...ch channel data has 3 bytes the upper two bytes store distance information and the lower one byte stores reflectivity information as shown in the figure below Table 10 Channel Data Channel data n 3 by...

Страница 27: ...b 2 Convert to a 16bit unsigned integer 0x88db 3 Convert to a decimal number 35035 Divided by 100 4 Result 350 35 degrees 6 2 2 2 Azimuth Value The azimuth value of each data block is the azimuth valu...

Страница 28: ...ing sequence can be calculated as the mean azimuth value of the azimuth value recorded in the first channel data of the N firing sequence and that of the N 2 firing sequence The following pseudo codes...

Страница 29: ...cation header 0 8 Data 1 Motor speed 8 2 2 Ethernet 10 22 3 FOV setting 32 4 4 Reserved 36 2 5 Motor phase lock 38 2 6 Top board firmware version number 40 5 7 Bottom board firmware version number 45...

Страница 30: ...ontal angle 564 48 35 Reserved 612 634 Tail 36 Tail 1246 2 Note The Header the DIFOP identifier in the table above is 0xA5 0xFF 0x00 0x5A 0x11 0x11 0x55 0x55 it can be used to identify the packet The...

Страница 31: ...shown below Figure 15 RS Helios 16P Vertical Angles 7 2 Exact Point Time Calculation In each MSOP Packet there are 12 data blocks and each data block stores measurements of 2 firing sequences of 16 la...

Страница 32: ...RS Helios 16P User Manual 26 Table 12 MSOP Packet Time Offset of Exact Laser Point Timing in Single Return Mode Table 13 MSOP Packet Time Offset of Exact Laser Point Timing in Dual Return Mode...

Страница 33: ...nput input current 2A Check whether the mounting base of the device is level or whether the fixing screws at the bottom of the LiDAR are too tight LiDAR rotates but no data output Check whether the ne...

Страница 34: ...is 3 3V TTL or RS232 Make sure that the 1PPS pulse is continuous and the connection is correct Make sure that the GPRMC message of NMEA is correct Make sure that the GPS and Interface Box share the sa...

Страница 35: ...ccess the LiDAR IP address default Device IP 192 168 1 200 to enter the homepage of the LiDAR web interface the homepage defaults to the Device page A 1 Device Information Screen After accessing the L...

Страница 36: ...35 3 The Return Mode has four options Strongest default Last First and Dual 4 The FOV can be set from 0 to 360 when set only the point cloud of the set FOV will be output 5 The sensor rotation speed c...

Страница 37: ...nsor cable has reserved the SYNC_OUT1 pin and the SYNC_OUT2 pin but the Interface Box has reserved only the SYNC_OUT1 pin Please refer to Table 2 GPS Port Definition for more details Therefore only Fi...

Страница 38: ...oltage Monitor shows the voltage of the sensor input power supply in real time When the LiDAR Operation Mode is set in the Standby mode the input box will turn red 2 Temperature users can view the cur...

Страница 39: ...e update taking the Top Board Firmware Update as an example are as shown below 1 Prepare the Top Board firmware that is going to be used for the update Click the Choose File button to navigate to the...

Страница 40: ...A 5 Select the Right Firmware 3 When the new firmware is successfully uploaded the file name of the firmware will appear in the box behind the Top Board Firmware Update click Update to initiate the up...

Страница 41: ...ame must meet the following requirements before it can be upgraded normally otherwise an error will be reported Top board upgrade file The necessary prefix helios_top The necessary suffix bin Bottom b...

Страница 42: ...H 22 bytes in total Byte No byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function LIDAR_IP DEST_PC_IP Byte No byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function MAC_ADDR port1 Byte No...

Страница 43: ...ed from hexadecimal to decimal B 4 Motor Phase Offset MOT_PHASE MOT_PHASE 2 bytes in total Byte No byte1 byte2 Function MOT_PHASE Register description This register can be used together with the PPS p...

Страница 44: ...the motor firmware version Register value 00 21 11 23 21 Segmentation of value 0x0021112321 Motor firmware version 21112321 B 8 Software Version SOF_FRM SOF_FRM 5 bytes in total Byte No byte1 byte2 by...

Страница 45: ...on Channel 13 vertical angle Channel 14 vertical angle Channel 15 vertical angle Byte No byte46 byte47 byte48 Function Channel 16 vertical angle Register description 1 The channel vertical angle value...

Страница 46: ...byte40 byte41 byte42 byte43 byte44 byte45 Function Channel 13 horizontal angle Channel 14 horizontal angle Channel 15 horizontal angle Byte No byte46 byte47 byte48 Function Channel 16 horizontal angle...

Страница 47: ...nal debug Byte No 17byte 18byte 19byte 20byte 21byte 22byte 23byte 24byte Function Internal debug Byte No 25byte 26byte 27byte 28byte 29byte Function Internal debug Note Value is the decimal value cal...

Страница 48: ...n Internal debug Note Value is the decimal value calculated after the byte at the corresponding position in big endian mode with the high order first and the low order last Register description 1 temp...

Страница 49: ...5 bit7 Reserved x N A 3 The real time speed of the motor is composed of byte32 and byte33 The calculation formula is as follows Motor real time speed value For example when byte32 0x58 and byte33 0x02...

Страница 50: ...erating LAS format point cloud files while the previous versions of RSView do not support generating point cloud files in LAS XYZ or PLY formats Functionality and features of RSView include Visualize...

Страница 51: ...reaming Sensor Data 1 Connect RS Helios 16P to power and connect to computer by network cable 2 Right Click to start the RSView application with Run As Administrator 3 Click on File Open and select Se...

Страница 52: ...at pops up set the save path and file name and then click the Save S button Figure C 5 RSView will start to write the packet file into the target pcap file Note RS Helios 16P will generate huge volume...

Страница 53: ...n to play or select frames in the data that you are interested in You can also use the mouse to select a portion of 3D point cloud which the details will then be tabulated in a spreadsheet for analysi...

Страница 54: ...rent positions in the data This tool and the Record button are in the same toolbar Figure C 8 Figure C 8 RSView Play Button and Scrub Tool 5 In order to get a more detailed analysis select a frame of...

Страница 55: ...w only selected elements Tool 8 Click the Select All Points tool which turns your mouse into a data point selection tool Figure C 12 Figure C 12 RSView Select All Points Tool 9 In the 3D rendered data...

Страница 56: ...lios 16P are modified in the means described in Section C 7 in other ways you will need to reset the Data Port that RSView acquires data to the modified port number otherwise there will be no data dis...

Страница 57: ...idar_sdk or contact our technical support to get it After downloading please read the README file in the driver package carefully which describes in detail how to compile and use the LiDAR driver pack...

Страница 58: ...Configure PC IP In the default RS Helios 16P firmware configure the static IP address of the computer to 192 168 1 102 the subnet mask to 255 255 255 0 The gateway does not need to be configured Afte...

Страница 59: ...re is just a brief introduction taking pcap as an example You can use rslidar_sdk to parse the saved offline pcap file into point cloud data for display 1 Modify the parameters in rslidar_sdk config c...

Страница 60: ...RS Helios 16P User Manual 54 Appendix E Mechanical Drawings...

Страница 61: ...ed to the surface of the sensor you can directly dip a small amount of isopropanol solution with a clean fiber cloth and then gently wipe the LiDAR surface to clean and then wipe it dry with a clean f...

Страница 62: ...RS Helios 16P User Manual...

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