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RS-Bpearl User manual

75

Appendix D RS-Bpearl

ROS&ROS2

Package

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

D.1 Install Software

1. Download and install Ubunutu 16.04 or Ubuntu18.04 operating system. (ROS2 users are
imperative to use the Ubuntu 18.04 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 all RoboSense LiDAR
sensors. 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

.

Содержание LiDAR RS-Bpearl

Страница 1: ...RS Bpearl User manual...

Страница 2: ...ation in the table of Laser Channels and Vertical Angles 2019 12 11 PD 2 0 1 Updated product mechanical dimensions drawing in Appendix E Corrected some minor description errors Changed product name to...

Страница 3: ...l Time Coordinated Protocol Protocol version number 00 represents old version 01 represents the latest version Wave_mode Echo flag Temp LiDAR temperature information Resv Reserved data flag UCWP User...

Страница 4: ...Synchronization 19 4 6 3 PTP Time Synchronization 20 4 6 4 PTP Wiring Diagram Valid for RS Bpearl 3 0 20 4 6 5 Time Calculation 21 5 Communication Protocols 23 5 1 MSOP and DIFOP 23 5 2 Main Data Stre...

Страница 5: ...ASCII Code in GPRMC Packet 60 B 14 Corrected Vertical Angle COR_VERT_ANG 60 B 15 Corrected Horizontal Angle COR_HOR_ANG 62 Appendix C RSView 64 C 1 Software Features 64 C 2 Install RSView 64 C 3 Set...

Страница 6: ...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 the copyrig...

Страница 7: ...heating sign on the LiDAR surface to avoid a hot LiDAR surface that may lead to sensor failure or undesirable consequences Read Instructions Please reading all instructions on sensor operation and use...

Страница 8: ...The data output access of the RS Bpearl is physically protected by an aviation plug From the LiDAR to the aviation plug the cable length is 1 meter The pins of the aviation plug are defined as follows...

Страница 9: ...integrated cable attached to the Interface Box of the aviation plug version LiDAR is 3 meters for other cable lengths please contact RoboSense technical support Figure 2 3 Definition of Interface Box...

Страница 10: ...ur technical support or account manager at RoboSense 1 1 2 RJ45 Ethernet Port The network interface on the Interface Box follows the EIA TIA568 standard 1 1 3 GPS Time Synchronization GPS REC receives...

Страница 11: ...ssories that you are going to purchase or interested in please contact RoboSense Sales for details 3 2 Sensor Mounting The RS Bpearl can be mounted to any application with a mounting base As shown in...

Страница 12: ...Port No DIFOP Port No RS Bpearl 192 168 1 200 6699 7788 Computer 192 168 1 102 To establish communication between the LiDAR and computer it s required to set the computer s IP address to the same netw...

Страница 13: ...RS Bpearl User manual 13 Figure 3 2 Interface Box Connection To GPS Interface Box To power adapter To PC Network...

Страница 14: ...zation GPRMC with 1 PPS PTP Sensor Protection IP67 1 The data above is only for serial production products and may not be applicable to any samples testing devices and other non production versions If...

Страница 15: ...le of the laser is the horizontal rotation angle of the laser in the Polar Coordinate System and x y z are the coordinate values in the Cartesian Coordinate System and can be obtained from the DIFOP d...

Страница 16: ...values from 0 to 100 and retroreflectors report values from 101 to 255 Black objects are with low reflectivity values white objects are with high reflectivity values the most ideal reflection reports...

Страница 17: ...be reported Similarly if the LiDAR is set to the last return mode only the value of the last return will be reported If the LiDAR is set the dual return mode both the strongest and last return value w...

Страница 18: ...2 0 users can use the RS Bpearl RSView to check and modify the Phase Locking settings click Tools RS LiDAR Information for the Phase Lock parameter setting The phase locking value can be set from 0 to...

Страница 19: ...Level Receive Pin Definition GPS REC GPS PULSE RS232 Receive the RS232 serial data output by the GPS module Receive the positive synchronization pulse signal output by the GPS module the level is req...

Страница 20: ...PTP Precision Time Protocol is a time synchronization protocol which itself is only used for high precision time synchronization between devices but it can also be borrowed for frequency synchronizati...

Страница 21: ...P data packet contains time data When external time synchronization signal is not available a default system time will be used for the timing The sensor time will be updated when external time synchro...

Страница 22: ...RS Bpearl User manual 22 Figure 4 6 Time Stamp Note Red box Header ID Yellow box Year month day hour minute second respectively Green box Millisecond Blue box Microsecond...

Страница 23: ...nput sensor configuration parameters UDP 1248 bytes INF Note The following sections describe and define the valid payload 1248byte of the protocols 1 The main data stream output protocol MSOP encapsul...

Страница 24: ...RS Bpearl User manual 24 Figure 5 1 RS Bpearl_2 0 UDP Packet Structure Figure 5 2 RS Bpearl_3 0 UDP Packet Structure...

Страница 25: ...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 Defi...

Страница 26: ...manual 26 0x06 RS Helios Resv 31 7 Reserved for future updates Temp 38 2 Device temperature Top Temp 40 2 Top board temperature Note The defined time stamp is used for recording the system time the re...

Страница 27: ...es Data Block 1 Data Block 2 Data Block n Data Block 12 0XFFEE 0XFFEE 0XFFEE 0XFFEE Azimuth 1 Azimuth 2 Azimuth n Azimuth 12 Channel data 1 Channel data 1 Channel data 1 Channel data 1 Channel data 2...

Страница 28: ...Table 5 4 Channel Data Channel data n 3 bytes 2 bytes Distance 1 byte Reflectivity Distance1 15 8 Distance2 7 0 Reflectivity Distance information contains 2 bytes the unit is m the resolution is 0 5c...

Страница 29: ...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...

Страница 30: ...eserved 36 2 5 Motor phase lock 38 2 6 Top board firmware version 40 5 7 Bottom board firmware version 45 5 8 Reserved 50 242 9 Serial number 292 6 10 Zero angle offset 298 2 11 Return mode 300 1 12 U...

Страница 31: ...1 Motor speed 8 2 2 Ethernet source IP 10 4 Ethernet destination IP 14 4 LiDAR MAC address 18 6 MSOP port number 24 2 Reserved 26 2 DIFOP port mumber 28 2 Reserved 30 2 3 FOV start angle 32 2 FOV end...

Страница 32: ...1 Rotation direction flag 337 1 Elapsed time flag 338 4 Fault diagnosis 342 40 15 GPRMC 382 86 16 Corrected vertical angle 468 96 17 Corrected horizontal angle 564 96 18 Reserved 660 586 Tail 19 Tail...

Страница 33: ...et 10 22 3 FOV setting 32 4 4 Time 36 10 5 Motor phase lock 46 2 Note The Header UCWP identifier in the table above is 0xAA 0x00 0xFF 0x11 0x22 0x22 0xAA 0xAA among which the first 4 bytes 0xAA 0x00 0...

Страница 34: ...A 0x00 0xFF 0x11 0x22 0x 22 0xAA 0xAA 8 Motor Speed 600rpm 0x02 0x58 2 LiDAR IP LIDAR_IP 192 168 1 105 0xC0 0xA8 0x01 0x69 4 Destination PC IP DEST_PC_IP 192 168 1 225 0xC0 0xA8 0x01 0xE1 4 LiDAR MAC...

Страница 35: ...uration will take effect once the parameters are changed except that the network parameters will take effect during the initialization process when the LiDAR is restarted Note RSVIEW provides the LiDA...

Страница 36: ...arge the wait time after each charge and the reference signal time 2 4 00us 2 1 20us 4 16us 14 56us After the first laser charge the RS BPearl will complete the shooting from channel 1 to channel 8 an...

Страница 37: ...RS Bpearl User manual 37...

Страница 38: ...to 32 and the laser firing sequence number sequence_index is defined as sequence 1 to 12 The time stamp of each MSOP packet is the time stamp of the first laser shooting laser point to calculate the e...

Страница 39: ...RS Bpearl User manual 39 Table 6 2 Time Offset of each Laser Point in the MSOP Packet in the Dual Return Mode...

Страница 40: ...eck if the connection cable between the Interface Box and the LiDAR gets loose LiDAR keeps restarting at startup Check whether the input power connection and polarity are normal Check whether the volt...

Страница 41: ...and serial port set to 8N 1 8 bits no parity 1 stop bit Check whether the GPS signal level RS232 Make sure that the 1PPS pulse is continuous and the connection is correct Make sure that the GPRMC mes...

Страница 42: ...ess After the LiDAR is correctly connected and configured according to the requirements user can use the computer connected to the LiDAR to access the LiDAR IP address default Device IP 192 168 1 200...

Страница 43: ...ault Strongest 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 can be set which only 300rpm 600rpm default and 1200r...

Страница 44: ...an view the real time operating temperature of the LiDAR 3 RPM Users can view the real time motor rotating speed when the LiDAR operation mode is set as Standby the motor rotating speed will be 0 4 La...

Страница 45: ...tem button on the front page of the Web Interface you will see the System Screen where you can update the top board firmware bottom board firmware software web app motor firmware and config file The p...

Страница 46: ...ar in the box behind the Top Board Firmware Update click Update to initiate the update process Figure A 6 Click Update 4 After the Update process completes the Web Interface will prompt Update Success...

Страница 47: ...RS Bpearl User manual 47 Figure A 7 Update Successful...

Страница 48: ...ckwise rotation byte1 0x02 byte2 0x58 speed 600rpm clockwise rotation byte1 0x02 byte2 0x58 speed 300rpm clockwise rotation If set with data other than the above described the rotation speed of the mo...

Страница 49: ...r Description Set the azimuth range that the sensor can output valid data the values of FOV_START and FOV_END could be any integer between 0 to 36000 corresponding 0 360 the data storage adopts the bi...

Страница 50: ...sion TOP_FRM TOP_FRM 5 bytes in total Byte No byte1 byte2 byte3 byte4 byte5 Function TOP_FRM Register description This register corresponds to the top board firmware version For RS Bpearl_2 0 Top boar...

Страница 51: ...Version SOF_FRM SOF_FRM 5 bytes in total Byte No byte1 byte2 byte3 byte4 byte5 Function SOF_FRM Register description This register corresponds to the Software Firmware version Software firmware file...

Страница 52: ...ime synchronization successful B 10 UTC Time UTC_TIME UTC_TIME 10 bytes in total Byte No byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function year month day hour min sec ms Byte No byte9 byte10 Fu...

Страница 53: ...bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved Reserved set_day 4 0 1 31 day 4 hour reg name set_hour Byte No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved Reserved set...

Страница 54: ...999 8 us reg name set_us Byte No bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function Reserved Reserved Reserved Reserved Reserved Reserved us 9 8 Byte No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Fu...

Страница 55: ...1uA and the current calculation formula is dat _ 22 0 _ 23 0 _ 22 0 _ 23 1 For example if byte1 0x8C byte2 0xD5 byte3 0x 00 the actual current value is Idat Idat_reg 22 0 0x0CD500 uA 840960uA 841mA 2...

Страница 56: ...x24 5 V Vdat_5V_reg value 4096x11 V Vdat_1V25_reg value 4096x3 V Vdat_0V_reg value 4096x3 V Vdat_1V_reg value 4096x3 V The unit used in the above calculations is volt V B 12 Fault Diagnosis FALT_DIGS...

Страница 57: ...tom board temperature temperature3 temperature4 are the top board temperature The temperature value consists of 2 bytes and the lower 3 bits of temperature 2 0 are meaningless The high 13 bit temperat...

Страница 58: ...rmula is as Motor real time rotation speed 256 r_rpm1 r_rpm2 6 2 The reset is used for internal debug B 12 2 Fault Diagnosis valid for RS Bpearl 3 0 Fault Diagnosis 40bytes in total Byte No byte1 byte...

Страница 59: ...Value 32768 the temperature value is positive the calculation formula is as follows temp value 362 256 value 363 0x7FF8 128 0 When Value 32768 the temperature value is negative the calculation formula...

Страница 60: ...time rotation speed 256 r_rpm1 r_rpm2 6 B 13 ASCII Code in GPRMC Packet GPRMC register reserve 86 bytes it stores the whole GPRMC message from GPS module to the register in ASCII code B 14 Corrected V...

Страница 61: ...yte74 byte75 byte76 byte77 byte78 byte79 byte80 byte81 Function Channel 25_COR_VERT_ANG Channel 26_COR_VERT_ANG Channel 27_COR_VERT_ANG Byte No byte82 byte83 byte84 byte85 byte86 byte87 byte88 byte89...

Страница 62: ...byte37 byte38 byte39 byte40 byte41 byte42 byte43 byte44 byte45 Function Channel 13_COR_HOR_ANG Channel 14_COR_HOR_ANG Channel 15_COR_HOR_ANG Byte No byte46 byte47 byte48 byte49 byte50 byte51 byte52 by...

Страница 63: ...s of which the first byte represents positive or negative of the value and the second and third bytes represents the value of the angle which is stored in big endian mode 2 The first byte 0x00 represe...

Страница 64: ...or data to pcap files Visualize sensor data from a recorded pcap file Different types of visualization modes such as distance time azimuth etc Display point data in a spreadsheet Export point cloud da...

Страница 65: ...ile Open and select Sensor Stream Figure C 1 Figure C 1 RSView Open Sensor Stream 4 The Sensor Configuration dialog will appear In Type of Lidar chose RSBpearl In Intensity chose Mode3 Then click OK a...

Страница 66: ...he sensor data stream Figure C 4 The stream can be paused by pressing the Play button pressing again the stream resumes Figure C 4 Sensor Stream Data Display in RSView C 5 Capture Streaming Sensor Dat...

Страница 67: ...e Figure C 6 RSView Record Saving Dialog 3 Click the Record button again to stop saving pcap data C 6 Replay Captured Sensor Data from PCAP File You can use RSView to replay or check the pcap file sav...

Страница 68: ...ositions in the data This tool and the Record button are in the same toolbar Figure C 9 Figure C 9 RSView Play Button and Scrub Tool 5 In order to get a more detailed analysis select a frame of data t...

Страница 69: ...in the Spresdsheet Figure C 12 RSView show only elements Tool 8 Click the Select All Points tool which turns your mouse into a data point selection tool Figure C 13 Figure C 13 RSView Select All Poin...

Страница 70: ...ix A for details RSView provides a tool integrated with the UCWP protocol that can be used to configure the motor speed Ethernet time synchronization output angles and echo mode set by the factory fir...

Страница 71: ...s and then click Set LiDAR After a prompt indicating modification successful appears check the RS LiDAR Information by clicking the Get button again to verify whether the parameters have been modified...

Страница 72: ...for the update of sensor firmware To update LiDAR firmware through RSView it is necessary to first ensure that the RS Bpearl LiDAR sensor has been normally connected and can display the point cloud an...

Страница 73: ...done with the Web Interface Please refer to Appendix A for details To perform fault diagnosis with RSView it is necessary to first make sure that the RS Bpearl sensor is normally connected and can di...

Страница 74: ...RS Bpearl User manual 74 Figure C 20 Fault Diagnosis...

Страница 75: ...s 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 compi...

Страница 76: ...atic 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 After the configuration is completed you can use the ifconfig command to ch...

Страница 77: ...Data About how to parse data offline rosbag or pcap there is also a detailed introduction in the documentation in the rslidar_sdk driver package Here is just a brief introduction taking pcap as an exa...

Страница 78: ...l msg_source modified to 3 pcap_path configure to the absolute path of the pcap file e g home robosense RS_Bpearl pcap Make sure there is a one to one correspondence between MSOP and DIFOP port number...

Страница 79: ...RS Bpearl User manual 79 Appendix E Mechanical Drawings...

Страница 80: ...f the LiDAR and the height of the locator pin should not be higher than 4mm We recommend using aluminum alloy for the mounting base material which facilitates heat dissipating of the LiDAR during oper...

Страница 81: ...g the Data Port in RSView Connect the LiDAR to computer power on LiDAR start wireshark select the correct network port and start the packet capture process Input the data data 0 1 55 expression in the...

Страница 82: ...ount 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 fiber cloth If the surface of the LiDAR is caked with mud or dir...

Страница 83: ...RS Bpearl User manual...

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