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RoboSense RS-LiDAR-M1 Скачать руководство пользователя страница 3

RS-LiDAR-M1 User Guide

II

Table of Contents

1 Product Specifications

............................................................................................................... 1

2 Communication Protocol

........................................................................................................... 3

2.1 Main Data Stream Output Protocol (MSOP) ...................................................................... 4
2.2 LiDAR Information Output Protocol (DIFOP) .................................................................... 10

3 Interface Box Connection and State Machine

..................................................................... 13

3.1 The Connection of Interface Box ...................................................................................... 13
3.2 State Machine of LiDAR .................................................................................................... 14

4 Time Synchronization

.............................................................................................................. 15

4.1 Precision Time Protocol .................................................................................................... 15
4.2 Use Linuxptp tool to verify time synchronization ............................................................ 16
4.3 GPS Time Synchronization ................................................................................................ 19

Appendix A RSView

.................................................................................................................... 21

A.1 Software Features ............................................................................................................ 21
A.2 Install RSView ................................................................................................................... 21
A.3 Set Up Network ................................................................................................................ 21
A.4 Visualization of Point Cloud ............................................................................................. 22
A.5 Save Streaming Sensor Data into PCAP File ..................................................................... 23
A.6 Replay Recorded Sensor Data from PCAP Files ................................................................ 26

Appendix B Driver & SDK

.......................................................................................................... 30

B.1 Compile and Install rs_ driver .......................................................................................... 30
B.2 Compile and Install rslidar_sdk ........................................................................................ 32

Appendix C Autosar Tool

............................................................................................................ 40

C.1 Tool Introduction .............................................................................................................. 40
C.2 Operation System Requirements ..................................................................................... 40
C.3 Operation Instructions ..................................................................................................... 40

Appendix D Dimension

............................................................................................................... 47

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Содержание RS-LiDAR-M1

Страница 1: ...RS LiDAR M1 User Guide Executive Standard Q RS 001 2021 User Guide...

Страница 2: ...l FOV footnote MSOP data definition Add types of Interface Box in Section 3 1 Add Section 3 2 State Machine of LiDAR Add Chapter 4 Time Synchronization Update Appendix D Dimension Revise some improper...

Страница 3: ...5 4 2 Use Linuxptp tool to verify time synchronization 16 4 3 GPS Time Synchronization 19 Appendix A RSView 21 A 1 Software Features 21 A 2 Install RSView 21 A 3 Set Up Network 21 A 4 Visualization of...

Страница 4: ...nal space coordinates reflection intensity time stamp etc 1 The ranging capability of 150 meters is measured with the 10 NIST diffuse reflector as the target the test results may be affected by the en...

Страница 5: ...equired for long hours of work 6 Storage temperature 40 C 105 C 5 The device power consumption is tested when the device is working stably and the results may be affected by external environment condi...

Страница 6: ...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...

Страница 7: ...and time stamp The payload length of the MSOP packet is 1210 bytes which consists of a synchronization header of 32 bytes a data packet of 1175 bytes a total of 25 data blocks of 47 bytes and a tail o...

Страница 8: ...mode flag 0 means dual return mode 1 N A 2 N A 3 N A 4 means strongest return 5 means last return 6 means first return time_sync_mode time synchronization mode 0x00 currently using the LiDAR internal...

Страница 9: ...easurement The total number of data points in a dual return mode is twice that of a single return mode The detailed definition is as follows Table 5 Definition of data block in MSOP packet data block...

Страница 10: ...0 01 ch3_azimuth 24 2 In the polar coordinate system the horizontal angle of the channel 3 points the resolution is 0 01 ch3_intensity 26 1 Reflection intensity value of the channel 3 points the valu...

Страница 11: ...s chn_radius the radial distance value of the points of channel n in the polar coordinate system the resolution is 5mm chn_elevation the vertical angle of the channel n points in polar coordinate syst...

Страница 12: ...annel R1 256 R2 3 256 252 1020 According to the resolution of the coordinates it is converted to meters 1020 0 005 5 10m Therefore the radial distance of this channel in the corresponding elevation an...

Страница 13: ...pe LiDAR output computer read Default port number 7788 DIFOP is an output only protocol to periodically send the LiDAR serial number S N firmware version information host computer driver compatibility...

Страница 14: ...V start angle 32 2 Vertical FOV end angle 34 2 6 Version Information Firmware version number of the motherboard programmable logic 36 5 Firmware version number of the motherboard programming system 41...

Страница 15: ...nd the maximum value is 25 4 Return mode setting the return mode flag 0 dual return 1 N A 2 N A 3 N A 4 strongest return 5 last return 6 The first return 5 Time synchronization mode setting the defaul...

Страница 16: ...et Figure 2 Image for topology of LiDAR and PC Note Figure 2 shows the topology of connection of Interface Box AN1 Currently RS LiDAR M1 has two versions of interfaces namely AN1 and AN2 supporting th...

Страница 17: ...RS LiDAR M1 User Guide Connecting to LiDAR Connecting to Power Adaptor and Host Computer 3 2 State Machine of LiDAR S1 OFF Definition of State Machine S1 LiDAR OFF S2 NORMAL operation S2 NORMAL...

Страница 18: ...achieve the sub second level of time synchronization precision while PTP can support sub microsecond level 2 Compared to Global Positioning System GPS PTP has advantages of lower construction and mai...

Страница 19: ...ion about the accuracy of the master clock by principle If the timestamp of LiDAR point cloud deviates from the real time please check whether gPTP Grand Master clock is accurate 3 When time synchroni...

Страница 20: ...re Clock should be 1 Figure 5 Check PTP hardware supporting status 3 Download and install the Linuxptp tool sudo git clone git git code sf net p linuxptp code linuxptp cd linuxptp sudo make sudo make...

Страница 21: ...t least one port using this option or configuration file p dev This option is used to specify the PHC device such as dev ptp0 clock device to be used on the former Linux kernel The default is auto ign...

Страница 22: ...e the file default cfg for the complete list of available options global domainNumber 0 logSyncInterval 3 syncReceiptTimeout 3 neighborPropDelayThresh 800 path_trace_enabled 1 follow_up_info 1 transpo...

Страница 23: ...RS LiDAR M1 User Guide Figure 6 Topology of GPS Timing service synchronization...

Страница 24: ...iles at the moment RSView displays directly the point cloud that is exchanged from the measured distance from RS LiDAR M1 It supports changing the display mode of point cloud according to XYZ coordina...

Страница 25: ...e Open Sensor Stream Fig A 1 Fig A 1 Open the Sensor Stream in RSView 4 After finishing the above 3 steps the dialogue box Sensor Configuration shows up In this dialogue box the Sensor Calibration def...

Страница 26: ...he Play button click again the stream continues Figure A 4 RS LiDAR M1 Sensor Stream display 7 If there is no point cloud display please click Tools and check if the MSOP and DIFOP port number are cor...

Страница 27: ...to use a fast local HDD or SSD instead of a slow subsystem such as USB storage LiDAR or network drive Figure A 6 RSView record data 3 Click Record button again to stop recording pcap packets Use Wire...

Страница 28: ...the red boxes represent LiDAR IP PC IP MSOP port number and DIFOP packet port number respectively Figure A 9 Wireshark at work 4 Click File at the up left corner of the window and click Save to save t...

Страница 29: ...eration guide Figure A 12 Wireshark data saving A 6 Replay Recorded Sensor Data from PCAP Files The pcap file can be replayed or examined through RSView User can press the Play button to play or pause...

Страница 30: ...RS LiDAR M1 then click OK button 4 Click Play button to play or pause 3D point cloud data streaming Using the Scrub tool to select the interested frame The Scrub tool and the Record button are in the...

Страница 31: ...SView Spreadsheet display 7 Click Show only selected elements in the spreadsheet only the data of selected points will be displayed If no point is selected there will be no data shown in table Fig A 1...

Страница 32: ...ta points The data of these points will be displayed in the Spreadsheet and these points will turn pink in the point cloud display space Figure A 20 Figure A 20 RSView List Selected Points 10 Any sele...

Страница 33: ...ries rs_driver depends on the following third party libraries which need to be installed before compilation Boost Pcap PCL not required can be ignored if visualization tools are not needed Eigen3 not...

Страница 34: ...eded 1 MSVC If you are going to use the MSVC compiler please install the official installation package provided by PCL Select Add PCL to the system PATH for xxx during installation Figure B 1 Set up P...

Страница 35: ...parameters when executing the CMake configuration cmake DCOMPILE_DEMOS ON B 1 3 2 Visualization Tools rs_driver provides a point cloud visualization tool based on PCL which is stored in rs_driver tool...

Страница 36: ...full Ubuntu 18 04 ROS melodic desktop full Installation method refer to http wiki ros org If ROS kinetic desktop full or ROS melodic desktop full is installed other dependent libraries of compatible...

Страница 37: ...ecute the following command to compile and run if you use zsh replace the second command with source devel setup zsh catkin_make source devel setup bash roslaunch rslidar_sdk start launch B 2 1 3 Comp...

Страница 38: ...e details please refer to Reading LiDAR data online and sending to ROS 2 Parse ROS or ROS2 packets offline For more details please refer to Recording ROS data packets parsing ROS data packets offline...

Страница 39: ...fic status lidar driver lidar_type RSM1 frame_id rslidar msop_port 6699 difop_port 7788 start_angle 0 end_angle 360 min_distance 0 2 max_distance 200 use_lidar_clock false ros ros_recv_packet_topic rs...

Страница 40: ...s message timestamp false use system time as message timestamp B 2 3 3 Example of Multiple LiDAR Sensors Connect 2 RS LiDAR M1 LiDAR sensors online and send the point cloud to ROS Attention Indentatio...

Страница 41: ...Transformation rslidar_sdk provides a built in coordinate transformation feature which can directly output the point cloud after coordinate transformation which significantly saves the user s time co...

Страница 42: ...arameters including x y z roll pitch and yaw Here is an example of the parameter file which can be configured by the user according to the actual situation common msg_source 1 send_packet_ros false se...

Страница 43: ...buntu20 04 The corresponding version of the tool can be obtained by contacting RS technical support C 3 Operation Instructions C 3 1 Function Description The little robo tool supports two modes State...

Страница 44: ...3 2 Interface Description A license is required for the first time running the software As shown in Figure 2 Please use the following license serial number Figure C 2 RoboSense License Notice After en...

Страница 45: ...default It can be modified After entering the desired IP address in the box click E ROUTE to confirm and then restart the LiDAR to complete the modification Get the PL firmware version of the LiDAR m...

Страница 46: ...n of the Project button at the top right and select M0210 the interface is as follows Step2 Enter Link mode Please confirm the source IP and target IP of the LiDAR before clicking Link If the LiDAR is...

Страница 47: ...mple to modify the default LIDAR information to the following state LiDAR Info Description LiDAR IP ECU 10 10 1 200 PC IP TST 10 10 1 102 MSOP Port 2010 DIFOP Port 2011 Step1 After entering the Link m...

Страница 48: ...PL Function Enable Control and click QUERY button DID RSEP value of 00 indicates ROI Function off DID RSEP value of 01 indicates ROI Function on C 3 3 4 Firmware Flashing Step1 Click OpenFile select t...

Страница 49: ...e upgrade is done the upgrade completion window pops up click OK to complete the upgrade Step4 After the upgrade is done LiDAR will start automatically Re enter the Link mode after booting and get the...

Страница 50: ...RS LiDAR M1 User Guide Appendix D Dimension Drawing of LiDAR with interface AN1...

Страница 51: ...RS LiDAR M1 User Guide Definition of AN1 Pins...

Страница 52: ...RS LiDAR M1 User Guide Drawing of LiDAR with interface AN2...

Страница 53: ...RS LiDAR M1 User Guide Definition of AN2 Pins...

Страница 54: ...RS LiDAR M1 User Guide...

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