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RS-Ruby Plus User Manual

48

Appendix D RS-Ruby Plus

ROS&ROS2

Package

This appendix explains how to use ROS or ROS2 to acquire and visualize your
RS-Ruby Plus 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 LiDAR driver package, which has included drivers for many RoBosense
mechanical 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-Ruby Plus

Страница 1: ...RS Ruby Plus User Manual User Manual...

Страница 2: ...nt Voltage and Temperature 4 Added the introduction of high performance mode 5 Added description of motor rotation direction 2022 6 29 PD 1 0 2 1 Corrected current calculation formula 2 Added descript...

Страница 3: ...em UTC Universal Time Coordinated Protocol Protocol version number 01 represents old version 02 represents the latest version Wave_mode Echo flag Temp Sensor temperature information Resv Reserved data...

Страница 4: ...er Return Modes 10 4 4 2 Return Mode Flag 11 4 5 Phase Locking 11 4 6 Time Synchronization 12 4 6 1 GPS Time Synchronization 12 4 6 2 The Use of GPS for Time Synchronization 12 4 6 3 PTP Time Synchron...

Страница 5: ...B 14 UTC Time UTC_TIME 39 B 15 Rotation Direction ROTATION 39 B 16 STATUS STATUS 39 B 17 Fault Diagnosis FALT_DIGS 40 B 18 GPRMC Data Packet ASCII Code Data Type 41 Appendix C RSView 42 C 1 Software F...

Страница 6: ...nual 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 copyright...

Страница 7: ...e LiDAR surface to avoid a hot LiDAR surface that may lead to sensor failure or undesirable consequences Retain Instructions The safety and operating instructions should be retained for future referen...

Страница 8: ...Ruby Plus has two aviation plugs attached to the bottom of the LiDAR the definitions of the specific pins of the aviation plug are as shown in the table below Figure 2 2 4 pin Airline Table 2 1 4 Def...

Страница 9: ...White b5 11 Purple PPS a6 12 Purple and White GPRMC b6 13 Orange SYNC_OUT1 a7 14 Orange and White SYNC_OUT2 b7 15 Brown SYNC_OUT3 a8 16 Brown and White PGND b8 Shell Shield a9 b9 a10 b10 RS Ruby Plus...

Страница 10: ...4 Red GND B4 A5 Red and White GND B5 A6 Black and White GND B6 Specifications of Interface Box ports Table 2 5 Interface Box Port Specification No Port Specification Outlet Specification Connect the r...

Страница 11: ...ows the RJ45 standard 2 2 3 I O definition The definition of the RS Ruby Plus interface box and the corresponding position of each interface are shown in table 2 3 and table 2 4 SYNC_OUT_1 SYNC_OUT_2...

Страница 12: ...x3 34A 40W 1 5 Power Cable 1 2M 1 6 Ethernet Cable 1 5M 1 7 Screw Pack M4x10 3 Note If there are special requirements please refer to the actual negotiation 3 2 Sensor Mounting As shown in the figure...

Страница 13: ...Quick Connection Users are allowed to configure the network settings of the RS Ruby Plus which is set at the factory with default IP and port numbers as shown in the table below Table 3 2 Factory Defa...

Страница 14: ...amps Mechanical Operating Voltage 9V 32V Dimension 125mm H128 mm Power Consumption3 27W Typical Operating Temperature4 40 60 Weight 1 85kg LiDAR body Storage Temperature 40 85 Time Synchronization GPR...

Страница 15: ...fault completed the coordinate conversion to conform to the right handed coordinate system of ROS The X axis of ROS is the positive Y direction in Figure 2 1 and the Y axis of ROS is the negative X di...

Страница 16: ...RS Ruby Plus analyzes the received multiple returns and can be set to only report the strongest return first return or the last return each time in the single return mode or report the strongest and...

Страница 17: ...st Return 05 Last First return 4 5 Phase Locking The phase locking feature when a PPS pulse signal is triggered askes the RS Ruby Plus to rotate to a specific angle to fire laser pulses When multiple...

Страница 18: ...Time Synchronization The GPS_REC interface in the Interface Box of the RS Ruby Plus follows the RS232 level standard as shown in the table below Table 4 3 GPS Receive Pin Definition Level Receive Pin...

Страница 19: ...ense technical support 4 6 3 PTP Time Synchronization PTP Precision Time Protocol is a time synchronization protocol which itself is only used for high precision time synchronization between devices b...

Страница 20: ...nd does not make accuracy judgments If the time of the LiDAR deviates from the real time please check whether the time provided by the PTP Master is accurate 3 After the LiDAR is synchronized the PTP...

Страница 21: ...s 0x00015ad5 88789 The seconds part is a UTC timestamp represents the second increment count from 0 00 on January 1 1970 London time to the current time Figure 4 5 indicates London time 2022 03 25 10...

Страница 22: ...information UDP 1248byte 1s 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 ref...

Страница 23: ...definition of time in Appendix B 14 Header 80 bytes Field Offset Length byte Description Header ID 0 4 0x55 0xAA 0x05 0x5A Protocol Version 4 2 0x01 0x02 Resv 6 1 Reserved for future updates Wave_mod...

Страница 24: ...Ret_id Ret_id Ret_id Azimuth 1 Azimuth 2 Azimuth 3 Channel data 1 Channel data 1 Channel data 1 Channel data 2 Channel data 2 Channel data 2 Channel data 127 Channel data 127 Channel data 127 Channel...

Страница 25: ...x86 2 Convert to a decimal number 902 3 Calculate according to the distances resolution 4 Result 902 0 5 4 51m 2 Calculate azimuth based on azimuth data in the data packet 1 Find the azimuth value in...

Страница 26: ...R currently in use A complete DIFOP packet consists of a synchronization header data area and a tail Each DIFOP Packet is 1248 byte long including an 8 byte long synchronization header 1238 byte long...

Страница 27: ...s 351 2 Reserved 353 4 GPS status 357 1 temperature monitoring 358 10 Reserved 368 1 Code Wheel Calibration 369 1 Internal debug 370 1 Motor real time phase value 371 2 Real time speed 373 2 Reserved...

Страница 28: ...tores measurements of 1 firing sequences of 128 lasers It takes 55 56us to complete one round of firing and recharging of the 128 lasers Laser Channel_ID is 1 128 the timestamp of each MSOP Packet is...

Страница 29: ...39 7 304 62 86 118 416 27 4 70 1 15 7 304 62 86 118 416 28 4 60 4 69 7 304 62 86 118 416 29 5 30 4 72 8 521 64 077 119 633 30 5 20 1 18 8 521 64 077 119 633 31 5 10 2 36 8 521 64 077 119 633 32 5 00...

Страница 30: ...1 29 4 72 27 428 82 984 138 54 70 1 19 1 18 27 428 82 984 138 54 71 1 09 2 36 27 428 82 984 138 54 72 0 99 5 90 27 428 82 984 138 54 73 0 09 5 94 29 579 85 135 140 691 74 0 01 2 39 29 579 85 135 140...

Страница 31: ...36 47 435 102 991 158 547 112 3 02 5 90 47 435 102 991 158 547 113 3 97 5 94 49 019 104 575 160 131 114 4 17 2 39 49 019 104 575 160 131 115 4 42 1 15 49 019 104 575 160 131 116 4 72 4 69 49 019 104...

Страница 32: ...ether the computer network configuration is correct Use another software such as wireshark to check whether the packet output is normal Turn off firewalls and other security software that may block th...

Страница 33: ...d message Make sure that the GPS module is outdoors Check if the PTP Master synchronization protocol complies with the current PTP protocol Check if the PTP Master is working properly No data output w...

Страница 34: ...ed and the correct configuration is completed according to the requirements use the computer browser to access the Device IP address default Device IP 192 168 1 200 and enter the LiDAR web homepage th...

Страница 35: ...nt cloud of the set FOV will be output 5 The Time Synchronization Source has options GPS P2P E2E default and GPTP 6 Click the dropdown menu of Operation Mode users can select the working mode between...

Страница 36: ...SYNC OUT group The RS Ruby Plus integrated sensor cable has reserved three SYNC pins but the Interface Box has no pin Contact our sales or technical support if necessary Please refer to Figure 3 vers...

Страница 37: ...ure The figure below shows the image of the Diagnostic screen and the features Figure A 4 Diagnostic Screen of the Web Interface 1 Voltage Monitor shows the voltage of the sensor input power supply in...

Страница 38: ...not check whether the LiDAR is working normally 3 The number of start up times is refreshed after 1 minute after the LiDAR is circle powered again and the total running time is 1min once within 10min...

Страница 39: ...x behind the bottom Board Firmware Update click Update to initiate the update process Figure A 7 Click Update 4 After the Update process completes the Web Interface will prompt Update Successful after...

Страница 40: ...r is 0 B 2 Ethernet ETH ETH 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 Functi...

Страница 41: ...een converted 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 wit...

Страница 42: ...n Web_FRM Register description This register corresponds to the firmware version Register value Register value Motor firmware version 22012506 B 9 Corrected Vertical Angle COR_VERT_ANG COR_VERT_ANG 96...

Страница 43: ...endian format 2 The 1st byte of the vertical angle value 0x00 means a positive angle 0x01 means a negative angle 3 The angle resolution LBS 0 01 4 For example the register value of channel 1 byte1 0x...

Страница 44: ...t byte is used to indicate positive negative angle the 2nd and 3rd bytes indicate angle value The data storage adopts big endian format 2 The 1st byte of the horizontal angle value 0x00 means a positi...

Страница 45: ...N 1 bytes in total Byte No 1byte Function Rotation Direction Register description 1 00 represents the motor rotates clockwise 2 01 represents the motor rotates counterclockwise B 16 STATUS STATUS STAT...

Страница 46: ...e5 byte6 byte7 byte8 Function Reserved Byte No byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16 Function Reserved Number of starts Internal debug GPS_Status Byte No byte17 byte18 byte19 byte20 b...

Страница 47: ...et ASCII Code Data Type 86 bytes are reserved for the GPRMC data packet According to the length of the GPRMC message output by the external GPS module the received GPRMC message is self adaptively sto...

Страница 48: ...of RSView do not support generating point cloud files in LAS XYZ or PLY formats Functionality and features of RSView include Visualize live streaming sensor data over Ethernet Record live sensor data...

Страница 49: ...ower 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 Sensor Stream Figure C 1 Figure C 1 RSView Open Se...

Страница 50: ...ecord button when streaming Figure C 5 Figure C 5 R RSView Record Button 2 In the Choose Output File dialog that pops up set the save path and file name and then click the Save S button Figure C 6 RSV...

Страница 51: ...y 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 analysis The sa...

Страница 52: ...alysis select a frame of data that you are interested in and click the Spreadsheet button Figure C 10 A sidebar data table will be displayed on the right side of the screen which contains details of a...

Страница 53: ...aw a rectangle to frame some data points The data of these points will immediately populate the data table and the selected data points will turn pink in the data pane Figure C 14 Figure C 14 RSView L...

Страница 54: ...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 c...

Страница 55: ...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 check whet...

Страница 56: ...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 con...

Страница 57: ...RS Ruby Plus User Manual 51 Appendix E Mechanical Drawings...

Страница 58: ...RS Ruby Plus User Manual 52 Appendix F Correspondence Table of Channel Ranging Ability...

Страница 59: ...d 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 fi...

Страница 60: ...RS Ruby Plus User Manual...

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