Robosense RS-Ruby User Manual
RS-Ruby Users’ Manual
1
Revision History
Revision Number
Description
Date
Edited by
1.0
Initial release
2019-11-20
PD
RS-Ruby Users’ Manual
Terminology
MSOP
Main data Stream Output Protocol
FOV
Field of View
Azimuth
Horizontal Angle of LiDAR
Timestamp
Time Point of Encapsulation of a UDP Packet
Header
The Header of a UDP Packet
Tail
The Tail of a UDP Packet
Thermolysis
Loss of Heat from the Object
RS-Ruby Users’ Manual
RS-Ruby Users’ Manual
TABLE OF CONTENTS
1 Safety Notice
2 Introduction
3 Product Specifications
4 Interface
4.1 Power supply
4.2 Data Output interface of LiDAR
4.3 Interface Box
4.4 Connection of Interface Box
5 Communication Protocol
5.1 MSOP
6 GPS Synchronization
6.1 Principle of GPS synchronization
6.2 GPS Usage
7 Key Specifications
7.1 Return Mode
7.2 Phase Lock
8 Point Cloud
8.1 Coordinating Mapping
8.2 Laser Channel in spatial Distribution
9 Reflectivity
10 Troubleshooting
Appendix A – the Format of all Register
A.1 UTC_TIME
Appendix B RSView
B.1 Software Features
B.2 Installation of RSView
B.3 Network Setup
B.4 Visualization of point cloud
B.5 Save Streaming Sensor Data into PCAP File
B.6 Replay Recorded Sensor Data from PCAP Files
Appendix C RS-Ruby ROS Package
C.1 Software Installation
C.2 Compile RS-Ruby ROS Package
C.3 Configure PC IP address
C.4 Display of the real-time data
C.5 Offline Display the recorded PCAP File
Appendix D Dimension
Appendix E Suggestion of Mechanical LiDAR Mount
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5.1.1 Header
5.1.2 Data Field
5.1.3 Tail
5.1.4 MSOP Data Package
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RS-Ruby Users’ Manual
Appendix F Clean of LiDAR
F.1 Attention
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F.2 Required Materials
F.3 Clean Method
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RS-Ruby Users’ Manual
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Congratulations on your purchase of a RS-Ruby Real-Time 3D LiDAR Sensor. Please
read carefully before operating the product. Wish you have a pleasurable product
experience with RS-Ruby.
1 Safety Notice
In order to reduce the risk of electric shock and to avoid violating the warranty, do not
open sensor housing.
Laser safety-The laser safety complies with IEC60825-1:2014.
Read Instructions-All safety and operating instructions should be read before
operating the product.
Follow the 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.
Maintenance - The user should not attempt to maintain the product beyond what is
described in the operating instructions. All other Maintenance should be referred to
RoboSense.
RS-Ruby Users’ Manual
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2 Introduction
RS-Ruby, the 128-beam LiDAR developed by RoboSense, is the world leading
Multi-Beam LiDAR that is particular utilized in and perception of environment for
autonomous driving.
RS-Ruby is realized by solid-state hybrid LiDAR. The technical details are listed below:
Measurement rang 200 meters
Vertical angle resolution up to 0.1°
Accuracy ± 5 centimeter
Data rate up to 2,304,000 points/second
Horizontal field of view (FOV) of 360°
Vertical field of view (FOV) of -25°~15°
128 emitters in RS-Ruby can supply high-frequency laser impulse to scan environment
around LiDAR by rapidly spinning optical module. 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 perception.
Figure 1. Representation of RS-Ruby Imaging.
The operating Instructions of LiDAR:
Connecting the device of RS-Ruby;
Parsing the data packets, in order to capturing the values of azimuth, measuring
distance and calibrated reflectivity;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical
angle;
Storing the data of point cloud according to demand;
Checking the status of set-up information of device;
Resetting the status of network configuration, timing and rotation speed according to
demand.
RS-Ruby Users’ Manual
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Sensor
TOF measuring distance, including the reflectivity
128 channels
Range: from 3m to 230m (160m@10%)
2
Accuracy: upto ±3cm (typical value)
3
FOV(vertical): -25°~+15°
Angle resolution(vertical): at least 0.1°
FOV (horizontal): 360°
Angle resolution (horizontal/ azimuth): 0.2° (10 Hz)/0.4°
(20 Hz)
Rotation speed: 600/1200 rpm (corresponding to 10/20 Hz)
Laser
Class 1
Wave length: 905nm
Full angle of beam divergence:
horizontal 1.5 mrad, vertical 3.6 mrad
Output
Data rate: ~2.3 million points/second
1000Base-T1 Ethernet
Communication protocol: UDP
The Information that is included in Data Segment:
Distance
Rotation angle/Azimuth
Calibrated reflectivity
Synchronized timestamp (Timer resolution 1 μs)
Mechanical/
Electrical/
Operational
Power consumption: 45 W(typical)
4
Working voltage: 9-32 VDC (19V is recommended)
Weight: 3.75kg (without cable)
Dimensions: Diameter 166mm × Height 148.5mm
Ingress Protection Rating: IP67
Operation temperature: -40℃~+60℃
5
Storage temperature: -40℃~+85℃
3 Product Specifications
Table 1. Product Parameters.
1
1
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.
2
The measurement target of rang 160 m is a 10% 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
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.
4
The test performance of power consumption is depending on circumstance factors, not only
temperature, range and reflectivity but also including other uncontrollable factors.
5
Device operating temperature is depending on circumstance, including but not limited to
ambient lighting, air flow and pressure etc.
RS-Ruby Users’ Manual
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PIN
Wire Color
Function
1
Black/Brown
GROUND
2
Black
Gigabit network differential signal
3
Brown
Gigabit network differential signal
4
Black/Green
GROUND
5
Red
Gigabit network differential signal
6
Orange
Gigabit network differential signal
7
White/Orange
GROUND
8
Yellow
Gigabit network differential signal
9
Green
Gigabit network differential signal
10
White/Purple
GROUND
11
Blue
Gigabit network differential signal
12
Purple
Gigabit network differential signal
13
Yellow/Brown
GROUND
14
Black/Red
GROUND
15
Black/Orange
PWR
16
Black/Yellow
PWR
17
White/Black
PWR
18
White/Brown
PWR
19
White/Red
PWR
20
White/Yellow
PWR
21
White/Green
Reserved serial signal
22
White/Blue
Reserved serial signal
23
Yellow/Green
GPS_PULSE
4 Interface
4.1 Power supply
The supply voltage should remain in the range of 9~32 VDC with utilization of
Interface-Box. The recommend supply voltage is 19 VDC. The power consumption is
about 45 W.
4.2 Data Output interface of LiDAR
The data output access of RS-Ruby is physically protected by an aviation terminal
connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins
of the aviation terminal connector are defined as follow:
RS-Ruby Users’ Manual
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24
Yellow/Gray
GPS_REC
25
Yellow/Blue
Reserved signal
26
Yellow/Purple
GROUND
PIN No.
function
1
GPS_PULSE
2
+5V
3
GND
4
GPS_REC
5
GND
6
NC
Figure 2. Aviation Connector PIN Number
4.3 Interface Box
In order to connect the RS-Ruby conveniently, there is an interface box provided.
There are accesses for power supply, Ethernet and GPS on Interface Box. Meanwhile
there are also indicator LEDs for checking the status of power supply.
For those accesses, an SH1.0-6P female connector is the interface for GPS signal input.
Another interface is a DC 5.5~2.1 connector for power input. The last one is a RJ45
Ethernet connector for RS-Ruby data transport.
Note: When RS-Ruby connects its grounding system with an external system, the external
power supply system should share the same grounding system with that of the GPS.
When the power input is in order, the red LED which indicates the power input status will
be lighted. Meanwhile the green LED which indicates the power output status will be
lighted, when the power output is in order. While red LED is bright and green LED is dark,
Interface Box is in Protection status. While red and green LEDs are all dark, please check
whether the power supply is out of order or damaged. If it is intact, that could prove that
the Interface Box is damaged. Please send the damaged Interface Box back to
Figure 3. Interface Definition of Interface Box.
RS-Ruby Users’ Manual
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RoboSense Service.
GPS interface definition: GPS REC stands for GPS input, GPS PULSE stands for GPS
PPS input.
Interface of power supply is standard DC 5.5-2.1 connector.
4.4 Connection of Interface Box
Figure 4. Diagram of Interface Box connection.
RS-Ruby Users’ Manual
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IP Address
MSOP Port No.
RS-Ruby
192.168.1.200
6699
PC
192.168.1.102
Protocol
Abbreviation
Function
Type
Size
Interval
Main data Stream
Output Protocol
MSOP
Scan Data Output
UDP
1248 byte
~167 μs
5 Communication Protocol
RS-Ruby adopts IP/UDP protocol and communicates with computer through gigabit
Ethernet. In this User Guide the length of UDP packet is set up to 1248 byte. The IP
address and port number of RS-Ruby is set in the factory as shown in the Table 2, but can
be changed by user as needed.
Table 2. The IP Address and Port Number Set in the Factory.
The default MAC Address of each RS-Ruby is already set up in the factory with
uniqueness. In order to establishing the communication between a RS-Ruby and a
computer, the IP Address of the computer should be set at the same network segment.
For instance, IP Address is 192.168.1.X (X can be taken by a value from 1~254), subnet
mask: 255.255.255.0. If the internet setting of the sensor is unknown, please set the
subnet mask as 0.0.0.0, connect the sensor to the computer, and capture UDP packet to
get the information of IP and Port through Wireshark.
The output message from RS-Ruby is called MSOP. The Information of MSOP is shown
as follow：
Table 3. Overview of the MSOP.
Note: in the following chapters only the valid payload (1248 byte) will be discussed.
5.1 MSOP
I/O type: Device outputs data and computer parses data.
Default port number is 6699.
MSOP packet outputs data information of the 3D environment. Each MSOP packet from
sensor is 1248-byte length and consists of reported distance, calibrated Reflectivity values,
azimuth values and a timestamp in UDP header.
Each MSOP packet payload is 1248-byte length and consists of an 80-byte header and a
1164-byte data field containing 3 blocks of 388-byte data records and a last 4-byte tail.
The basic data structure of a MSOP packet for single return is as shown in Figure 5:
RS-Ruby Users’ Manual
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4byte
80 byte
data packet
3*388byte= 1164byte
80 byte
(11~20
byte is
timestamp)
Header
4byte
(parity)
Tail
Header(80bytes)
Header
Resv
Wave_Mode
Temp
Time
Resv
4bytes
3bytes
1bytes
2bytes
10bytes
60bytes
Azimuth 3
channel data 1
0xFE
Data block 2
Ret_id
channel data 0
channel data ...
channel data 127
Azimuth 1
channel data 1
0xFE
Data block 0
Ret_id
channel data 0
channel data ...
channel data 127
Azimuth 2
channel data 1
0xFE
Data block 1
Ret_id
channel data 0
channel data ...
channel data 127
MSOP Packet(1248 byte)
Figure 5. MSOP Packet of RS-Ruby in Single Return Mode.
5.1.1 Header
The 80-byte Header is used to mark the start position of data, return mode setting, sensor
temperature and timestamp. The detail of the header is as shown in Table 4.
Table 4. Format of Header.
header: this can be used for packets identification: 0x55, 0xAA, 0x05, 0x5A (Default
Value)
wave_mode: Big-Endian mode, lower 4 bit is used to representing the return mode of the
LiDAR, for instance:
00000011 stands for that first and second return mode is chosen.
00000001 stands for that first return mode is chosen.
00000010 stands for that second return mode is chosen.
temp: the temperature of device;
time: it is used to save the timestamp. In the defined timestamp the system time is
recorded, resolution 1us, the definition of time can be found in the appendix A.9 and the
table 8 of this chapter.
resv: those bytes are reserved.
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