Robosense RS-LiDAR-16 User Manual

RS-LiDAR-16 User Manual

Revision History

Revision

Content

Date

Edited by

1.0

Initial release

2017-03-01

3.0

Fill in the content according to RS-LiDAR-16 1.0 hardware.

2017-05-10

3.1

Modify the relationship between laser channel and vertical angle

2017-06-13

3.2

Update the content according to RS-LiDAR-16 2.0 hardware

Add the timestamp calculation method for every point

2017-07-17

3.3

Improve the range to 150m

Delete the description that MAC addressing is the same as serial number

Add azimuth interpolation calculation method

Corrected the data structure of UCWP

Add the instruction for RSVIEW

Add the instruction for ROS driver

2017-08-10

3.4

Add the frame description for ROS driver

Add the RS-LiDAR information in RSVIEW

2017-08-23

3.5

Correct the description for horizontal resolution

Add the description for LiDAR mechanical origin

2017-09-16

3.6

Update the RS-LiDAR information and data port setting

Update the protocol description of DIFOP

2017-12-05

3.7

Correct the depth dimension of the mount hole

Add Phase Lock

Add fault diagnosis

Add operation status

2018-02-05

3.8

Add trouble shooting

2018-03-15

4.0

Add LiDAR flag for MSOP

Update DIFOP protocol

Add top and bottom board flag description

Add GPS input status flag

Add laser mechanical position

Add bottom board firmware online update

Add fault diagnosis usage

Add LiDAR installation suggestion

2018-06-25

RS-LiDAR-16 User Manual

4.1

Add the sensor clean instruction

Add the RSVIEW compatible instruction

Add the LiDAR cable route instruction

2018-08-04

4.2

Refine LiDAR power supply considerations

Add the instruction of space between the LiDAR and mounting brackets

Modify the DIFOP data format

Add laser eye safety level instructions

Add aviation connector description and definition

Add Interface Box connection diagram

Update GPS synchronization protocol description

Add RS232 to TTL adapter wiring diagram and PIN definition

Add return mode description

Add information to fault diagnosis

Modify the UCWP data format and add the FOV setting description

Update Appendix C RSView content

Add the description of distance resolution 0.5cm

Add the description of intensity mode 3

2019-04-25

V4.3

This version of the manual is applicable to radars of V4.0 and later versions. For radars of previous versions of V4.0, please refer to the manual of version

4.2.

Modify the definition and schematic diagram of the air interface

Add the cleaning reminder in harsh environments

Adapted to the V4.0 version of the LiDAR, the number of points per second is modified from 320000/s to ~300000/s

Adapted to the V4.0 version of the LiDAR, the horizontal resolution of the point cloud is modified from 0.09° -0.36° to 0.1° -0.4°

Change the working temperature to -30°C -60°C

Adapted to the V4.0 version of the LiDAR, at the accurate point time calculation in Appendix A, the transmission interval between the channels of the device is changed from 3 μs to 2.8 μs, and the block time is changed from 50 μs to 55.5 μs

Add description of replacing LiDAR configuration file in Ubuntu system

2019-07-10

RS-LiDAR-16 User Manual

Add GPS interface PIN definition of the V4.0 version LiDAR’s interface box

4.3.1

Update electrical interface diagram

Add "LiDAR" to the network wiring definition

4.3.2

Correct some description faults

Add LiDAR mechanical installation suggestion

Update download address of RSView

Add LiDAR dimension diagram

Add footnote for specification in chapter 3

2019-12-11

4.3.3

Replace the dimension drawing in Appendix E

Modify some descriptions

2020-02-18

TABLE OF CONTENTS

RS-LiDAR-16 User Manual

1 Safety Notices

2 Introduction

3 Product Specifications

3.1 Product Format

3.2 Accuracy

4 Connections

4.1 Power

4.2 Electrical Configuration

4.3 Interface Box Description

4.4 Interface Box Connection

5 Communications Protocols

5.1 MSOP

........................................................................................................................................................

...........................................................................................................................................................

........................................................................................................................................

.........................................................................................................................................

....................................................................................................................................................

.........................................................................................................................................................

...........................................................................................................................

.......................................................................................................................

................................................................................................................................

5.1.1 Header

5.1.2 Data Field

5.1.3 Tail

5.1.4 Demonstration Data

5.2 DIFOP

5.3 UCWP

6 GPS Synchronization

6.1 GPS Synchronization Theory

6.2 GPS Usage

7 Key Features

7.1 Return Mode

........................................................................................................................................................

7.1.1 Return Mode Principle

............................................................................................................................................

.......................................................................................................................................

...................................................................................................................................................

..........................................................................................................................................

...............................................................................................................................................

.............................................................................................................................................

.....................................................................................................................

.................................................................................................................

7.1.2 The Strongest Return

...................................................................................................................

RS-LiDAR-16 User Manual

7.1.3 Strongest, Last and Dual Returns

7.1.4 Return Mode Flag

7.2 Phase Lock

8 Point Cloud

...........................................................................................................................................................

...............................................................................................................................................

8.1 Coordinate Mapping

8.2 Point Cloud Presentation

.........................................................................................................................

................................................................................................................................

........................................................................................................................

9 Laser Channels and Vertical Angles

10 Calibrated Reflectivity

11 Troubleshooting

Appendix A ▪ Point Time Calculate

Appendix B ▪ Information Registers

B.1 Motor(MOT_SPD)

.......................................................................................................................................

.................................................................................................................................................

......................................................................................................................

.....................................................................................................................

....................................................................................................................................

.............................................................................................

................................................................................................................

B.2 Ethernet(ETH)

B.3 FOV Setting (FOV SET)

B.4 Motor Phase Offset (MOT_PHASE)

B.5 Top Board Firmware (TOP_FRM)

B.6 Bottom Board Firmware (BOT_FRM)

..........................................................................................................................................

.........................................................................................................................

.....................................................................................................

.........................................................................................................

..................................................................................................

B.7 Corrected Vertical Angle (COR_VERT_ANG)

B.8 Serial Number(SN)

B.9 Software Version(SOFTWARE_VER)

B.10 UTC Time(UTC_TIME)

B.11 STATUS

...................................................................................................................................................

B.12 Fault Diagnosis

B.13 ASCII code in GPRMC Packet

..................................................................................................................................

..................................................................................................

.........................................................................................................................

......................................................................................................................................

............................................................................................................

....................................................................................

Appendix C ▪ RSView

C.1 Features

C.2 Install RSView

C.3 Set up Network

............................................................................................................................................

....................................................................................................................................................

..........................................................................................................................................

........................................................................................................................................

RS-LiDAR-16 User Manual

C.4 Visualize Streaming Sensor Data

.........................................................................................................

C.5 Capture Streaming Sensor Data to PCAP File

C.6 Replay Captured Sensor Data from PCAP File

C.7 RS-LiDAR-16 Factory Firmware Parameters Setting

C.8 RSView Data Port

C.9 Firmware Online Update

C.10 Fault Diagnosis

Appendix D ▪ RS-LiDAR-16 ROS Package

D.1 Prerequisite

D.2 Install RS-LiDAR-16 ROS Package

D.3 Configure PC IP address

D.4 View the real time data

...................................................................................................................................

........................................................................................................................

......................................................................................................................................

........................................................................................................

..............................................................................................................................................

.....................................................................................................

.......................................................................................................................

...........................................................................................................................

..................................................................................

.................................................................................

.......................................................................

D.5 View the recorded pcap file offline

Appendix E ▪ Dimensions

......................................................................................................................................

Appendix F ▪ LiDAR Mechanical Installation Suggestion

.......................................................................................................

................................................................................

Appendix G ▪ How to Distinguish the Port Number of MSOP and DIFOP Packets

Appendix H ▪ Sensor clean

H.1 Attention

....................................................................................................................................................

H.2 Require Materials

H.3 Clean Method

...................................................................................................................................

....................................................................................................................................

...........................................................................................................................................

....................................

Terminologies

MSOP

Main Data Stream Output Protocol

DIFOP

Device Info Output Protocol

UCWP

User Configuration Write Protocol

Azimuth

Horizontal angle of each laser firing

Timestamp

The marker that records the system time

Header

The starting part of the protocol packet

Tail

The ending part of the protocol packet

RS-LiDAR-16 User Manual

Congratulations on your purchase of a RS-LiDAR-16 Real-Time 3D LiDAR Sensor. Please read carefully before operating the product. Wish you a pleasurable product experience with RS-LiDAR-16.

1 Safety Notices

To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body.

 Laser safety - The laser safety complies with IEC 60825-1:2014.

 Read Instructions - All safety and operating instructions should be read before operating the

product.

Follow Instructions - All operating and use instructions should be followed.



 Retain Instructions - The safety and operating instructions should be retained for future reference.

 Heed Warnings - All warnings on the product and in the operating instructions should be adhered

to.

Servicing - The user should not attempt to service the product beyond what is described in the



operating instructions. All other servicing should be referred to RoboSense.

RS-LiDAR-16 User Manual

2 Introduction

RS-LiDAR-16, launched by RoboSense, is the first of its kind in China, world leading 16-beam miniature LiDAR product. Its main applications are in autonomous driving, robot-environment perception and UAV mapping.

RS-LiDAR-16, as a solid-state hybrid LiDAR, integrates 16 laser/detector pairs mounted in a compact housing.

Unique features include:

Measurement range of up to 150 meters



 Within 2 centimeters measurement accuracy

 Data rate of up to 300,000 points/second

Horizontal Field of View (FOV) of 360°



 Vertical Field of View (FOV) of 30° (-15°~+15°)

The compact housing of RS-LiDAR-16 mounted with 16 laser/detector pairs rapidly spins and sends out high-frequency laser beams to continuously scan the surrounding environment. Advanced digital signal processing and ranging algorithms calculate point cloud data and reflectivity of objects to enable the machine to “see” the world and to provide reliable data for localization, navigation and obstacle avoidance.

Figure 1: RS-LiDAR Imaging System.

Operation of device include:

 Establish communication with RS-LiDAR-16;  Parse the data packets for azimuth, measured distance, and reported calibrated reflectivity;  Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical angle;  Store the data as needed;  Read current device configuration data;  Set Ethernet, time and rotational speed as needed.

RS-LiDAR-16 User Manual

Sensor

Time of Flight Distance Measurement

16 Channels

Measurement Range: 40cm to 150m (on 20% reflectivity target)

Accuracy: ±2cm (typical, refer to Figure 2)

Field of View (Vertical): ±15.0° (30° in total)

Angular Resolution (Vertical): 2°

Field of View (Horizontal): 360°

Angular Resolution (Horizontal/Azimuth): 0.1°(5Hz) to 0.4°(20Hz)

Rotation Rate: 300/600/1200 rpm(5/10/20 Hz)

Laser

Class 1

Wavelength: 905nm

Full Beam Divergence Horizontal: 7.4 mrad, Vertical: 1.4 mrad

Output

Data Rate: ~300,000 points/second

100Mbps Ethernet

UDP packet, include:

Distance

Rotation Angle/Azimuth

Calibrated Reflectivity

Synchronized Timestamp (Resolution: 1us)

3 Product Specifications

3.1 Product Format

Table 1: Product Parameters.

The following data is only for mass-produced products. Any samples, testing machines and other non-mass-produced versions

may not be referred to this specification. If you have any questions, please contact RoboSense sales.

The measurement target of rang is a 20% NIST Diffuse Reflectance Calibration Targets, the test performance is depending on

circumstance factors, not only temperature, range and reflectivity but also including other uncontrollable factors.

3.2 Accuracy

Mechanical/

Electrical/

Operational

Power Consumption：12 W (typical)

Operating Voltage: 9-32 VDC (with Interface Box and Regulated Power Supply)

Weight: 0.87 Kg (without cable)

Dimensions: 109 mm Diameter X 80.7 mm Height

Environmental Protection: IP67

Operation Temperature: -30 ℃ to +60 ℃

Storage Temperature: -40 ℃ to +85 ℃

RS-LiDAR-16 User Manual

Figure 2: The Relation between accuracy and distance of target object.

The measurement target of accuracy is a 50% NIST Diffuse Reflectance Calibration Targets, the test performance is depending on

circumstance factors, not only temperature, range and reflectivity but also including other uncontrollable factors.

The test performance of power consumption is depending on circumstance factors, not only temperature, range and reflectivity but

also including other uncontrollable factors.

Device operating temperature is depending on circumstance, including but not limited to ambient lighting, air flow and pressure

etc.

RS-LiDAR-16 User Manual

4 Connections

4.1 Power

When equipped with an interface box, the device requires a voltage range of 9-32 VDC, and 12 VDC is recommended.

If the interface box is not used for the LiDAR, a regulated 12 VDC must be used, while the V4.0 and later versions of the LiDAR integrate the wide-voltage function internally, so you can continue to use 9-32 VDC.

The power consumption of the device is about 12 W (typical).

4.2 Electrical Configuration

RS-LiDAR-16 comes with an integral cable(power/data) that is permanently attached to the sensor and terminates at a standard SH1.25 wiring terminal. Figure 3 illustrates the serial PINs and their properties.

To operate RS-LiDAR-16, the user should insert the SH1.25 wiring terminal to the corresponding port on the Interface BOX.

Figure 3: Wiring Terminal and Serialized PIN.

The RS-LiDAR-16 has a type that uses the aviation connector. The cable length between the LiDAR and the aviation connector is 1 meter. The specific PINs of the aviation connector are defined as follows:

RS-LiDAR-16 User Manual

Wire Color

Function

Red

+12V

Yellow

+12V

White

GROUND

Black

GROUND

Green

GPS PULSE

Blue

GPS REC

Brown

LiDAR Ethernet RX-

Brown white

LiDAR Ethernet RX+

Orange

LiDAR Ethernet TX-

Orange white

LiDAR Ethernet TX+

Figure 4: Aviation Plug PIN Number.

4.3 Interface Box Description

The Interface BOX is connected to the RS-LiDAR-16 by default.

The Interface BOX provides indicator LEDs for power, interfaces for power, 100Mbps Ethernet, and GPS inputs. The DC 5.5-2.1 connector for power input, RJ45 Ethernet connector for RS-LiDAR-16 data output and SH1.0-6P female connector for GPS input.

Note: The default cable of the interface box is 3 meters long, if you have other length requirements please

contact the RoboSense technical support. Because of the different LiDAR versions, there are two definitions

and different levels of the GPS port on the interface box.

The corresponding positions of the interface are as follows (As shown in Figure 5):

RS-LiDAR-16 User Manual

PIN No.

V4.0 and later versions

Other versions

GPS PULSE

GPS REC

+5V

GPS PULSE

GND

GPS REC

GND

6NC+5V

Figure 5: Interface definition on Interface Box.

Note: When RS-LiDAR-16 connects its grounding system with an external system, the external power supply system should share the same grounding system with that of the GPS.

On the Interface BOX, the red light indicator means standard power input, and the green one means standard power output. The Interface BOX access protection status when the red light indicator lights up and green light indicator blacks out. If the red and green light indicators blink at the same time, please check for errors of the power supply. If the power supply is checked without error, the high chance is that the Interface BOX is damaged. Please return damaged Interface BOX to RoboSense for service.

GPS interface definition: GPS REC means GPS UART input, GPS PULSE means GPS PPS input.

Ethernet interface complies with EIA/TIA568 Standard.

Power interface adopts standard DC 5.5-2.1 connector.

4.4 Interface Box Connection

RS-LiDAR-16 User Manual

Figure 6: Interface Box connection diagram.

RS-LiDAR-16 User Manual

IP Address

MSOP Port No.

DIFOP Port No.

RS-LiDAR-16

192.168.1.200

6699

7788

Computer

192.168.1.102

Protocol

Abbreviation

Function

Type

Size

Interval

Main Data Stream Output Protocol

MSOP

Scan Data Output

UDP

1248byte

~1.33 ms

Device Information Output Protocol

DIFOP

Device Information Output

UDP

1248byte

~100 ms

User Configuration Write Protocol

UCWP

Sensor Parameters Setting

UDP

1248byte

INF

5 Communications Protocols

RS-LiDAR-16 adopts UDP protocol and communicates with computer through 100Mbps Ethernet. There two different kinds of UDP output packets: MSOP packets and DIFOP packets. The UDP protocol packet in this manual is of 1290 byte long, and consists of a 1248-bytes- payload and a 42-byte header. The IP address and port number of RS-LiDAR-16 is set in the factory as shown in the Table 2, but can be changed by the user as needed.

Table 2: The IP Address and Port Number Set at the Factory.

The default MAC Address of each RS-LiDAR-16 is set in the factory. The MAC Address can be changed as needed.

To establish communication between a sensor and a computer, the IP address of the computer should be set at the same network segment of that of the sensor. By default: 192.168.1.X (X can be taken by a value from 1~254), subnet mask: 255.255.255.0. In case of uncertainty about the internet setting of the sensor, please connect the sensor to the computer, and parse packet to get the IP and port through Wireshark.

RS-LiDAR-16 adopts 3 kinds of communications protocols to establish communication with the computer:

MSOP (Main Data Stream Output Protocol). Distance, azimuth and reflectivity data



collected by the sensor are packed and output to computer.

DIFOP (Device Information Output Protocol). Monitor the current configuration information



of the sensor.

 UCWP (User Configuration Write Protocol). User can modify some parameters of the

sensor as needed.

Table 3: Protocols Adopted by RS-LiDAR-16.

Note：The following section describes and defines the valid payload (1248 byte) of the UDP protocol packet.

RS-LiDAR-16 User Manual

channel data 16

channel data 32

channel data ...

channel data 17

channel data ...

channel data 32

channel data 17

channel data ...

channel data 32

42 bytes

data packet

12 * 100 bytes = 1200 bytes

MSOP Packet (1248 bytes)

6 bytes

42 bytes

(21st~30

byte is

time

stamp)

Header

Tail

4 bytes

resv. + 2

bytes

(0x00,

0xFF)

channel data 1

channel data 2

0xffee

Data block 1

Azimuth 1

channel data ...

channel data 16

channel data 1

channel data 2

0xffee

Data block 2

Azimuth 2

channel data ...

channel data 1

channel data 2

0xffee

Data block n

Azimuth n

channel data ...

channel data 1

channel data 2

0xffee

Data block 12

Azimuth 12

channel data ...

channel data 17

channel data ...

channel data 32

5.1 MSOP

I/O type: device output data, computer parse data.

Default port number is 6699.

MSOP outputs data information of the 3D environment in packets. Each MSOP packet is 1248 bytes long and consists of reported distance, calibrated reflectivity values, azimuth values and a time stamp.

Each RS-LiDAR-16 MSOP packet payload is 1248 byte long and consists of a 42-byte header and a 1200-byte data field containing twelve blocks of 100-byte data records and a 6-byte tail.

The basic data structure of a MSOP packet for single return is as shown in Figure 7.

Figure 7: Single Return MSOP Packet.

The basic data structure of a MSOP packet for dual return is as shown in Figure 8.

LiDAR Model (1 byte)

0x01

RS-LiDAR-16

0x02

RS-LiDAR-32

channel data 16

Second Return

First Return

channel data 32

channel data ...

channel data 17

channel data ...

channel data 32

channel data 17

channel data ...

channel data 32

42 bytes

data packet

12 * 100 bytes = 1200 bytes

MSOP Packet (1248 bytes)

6 bytes

42 bytes

(21st~30

byte is

time

stamp)

Header

Tail

4 bytes

resv. + 2

bytes

(0x00,

0xFF)

channel data 1

channel data 2

0xffee

Data block 1

Azimuth 1

channel data ...

channel data 16

channel data 1

channel data 2

0xffee

Data block 2

Azimuth 2

channel data ...

channel data 1

channel data 2

0xffee

Data block n

Azimuth n

channel data ...

channel data 1

channel data 2

0xffee

Data block 12

Azimuth 12

channel data ...

channel data 17

channel data ...

channel data 32

RS-LiDAR-16 User Manual

5.1.1 Header

The 42-byte header marks the beginning of data blocks. In the 42-byte data header, the first 8 bytes are for header identification, the 21st. to 30th. byte records time stamp, the 31st byte represents the LiDAR model, and the rest bytes are reserved for future updates.

The first 8 bytes of the header is defined as 0x55,0xAA,0x05,0x0A,0x5A,0xA5,0x50,0xA0.

Time stamp with a resolution of 1 μs records the system time. Please refer to the definition of time in Appendix B.10 and Table 8 in part 3 of this section. The 31st byte LiDAR model is described as below:

Figure 8: Dual Return MSOP Packet Definition Diagram.

Table 4: LiDAR Model Flag.

RS-LiDAR-16 User Manual

5.1.2 Data Field

Data field comprises data blocks that contain valid measurement data. Each data filed contains 12 blocks. Each block is 100-byte long and is a complete measurement data set. Each data block begins with a 2-byte start identifier “0xffee”, then a two-byte azimuth value (rotational angle). Each azimuth value records 32 sets of channel data reported by the 16 laser channels for two sequence. (Please see chapter 9 for the relationship between channel sequence and vertical angel.)

5.1.2.1 Azimuth Value

The reported azimuth is associated with the first laser firing in each sequence of 16 laser firings. The Azimuth Value is recorded by the encoder. The zero position on the encoder indicates the zero degree of azimuth value on RS-LiDAR-16. In one data block, there are 32 sets of laser data indicating two sequence of the 16 laser firings, however only every-other encoder angle is reported for alternate firing sequences. So under single return mode user can choose to interpolate that unreported encoder stamp (Refer to 5.1.2.2). The resolution of Azimuth is 0.01°.

For example, in Figure 10, the azimuth value is calculated through the following steps:

Get azimuth values: 0x00

Combine to a 16 bit, unsigned integer: 0x0044

Convert to decimal: 68

Divided by 100

Result: 0.68°

Hence the firing angle is 0.68°

Note: the position of 0° on sensor is the Y axis positive direction in Figure 14.

，

0x44

5.1.2.2 Azimuth Value Interpolation

Because the RS-LIDAR-16 reports the azimuth value for every-other firing sequence, it’s helpful to interpolate the un-reported azimuth when the LiDAR works under single return. There are several ways to interpolate the un-reported azimuth, but the one given below is simple and straight forward.

Consider a single data packet. The time between the first firing of the first sequence of sixteen firings (Data Block 1) and the first firing of the third sequence of sixteen laser firings (Data Block 2) is ~100.0 µs. If you assume the rotation speed over that short interval is constant, you can assume the azimuth of the (N+1) set of sixteen laser firings is halfway between the azimuth reported with the Nth set of 16 laser firings and the azimuth reported with the (N+2) set of laser firings.

Below is pseudo-code that performs the interpolation. The code checks to see if the azimuth rolled over from 359.99° to 0° between firing sequence N and N+2.

+ 46 hidden pages

Robosense RS-LiDAR-16 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety Notices

2 Introduction

3.1 Product Format

3.2 Accuracy

4 Connections

4.1 Power

4.2 Electrical Configuration

4.3 Interface Box Description

4.4 Interface Box Connection

5 Communications Protocols

5.1 MSOP

5.1.1 Header

5.1.2 Data Field

5.1.2.1 Azimuth Value

5.1.2.2 Azimuth Value Interpolation