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RoboSense RS-Bpearl User Manual
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11
RS-Bpearl
User
Manual
5.1.3
T
ai
l
The
tail
is
6
bytes
long,
w
ith
4
bytes
unused
and
reserved
f
or
other
inform
ation,
an
d
the
other
2
bytes
as:
0x00,
0xFF
.
5.1.4
MSOP
Data
Package
The
follo
wing
Figure
8
show
s
the
format
of
MSOP
da
ta
p
acket
and
relevant
parsing
processes
.
Figure
7:
MSOP
Packet.
15
17
Table of Contents
Default Chapter
2
Revision History
2
Table of Contents
4
1 Safety Notice
6
2 Introduction
7
3 Product Specifications
8
4 Interface
9
Power Supply
9
Data Output Interface of Lidar
9
Interface Box
9
Connection of Interface Box
11
5 Communication Protocol
12
Msop
12
Header
14
Data Field
15
Tail
16
MSOP Data Package
16
Difop
17
Ucwp
18
6 GPS Synchronization
21
GPS Synchronization Theory
21
GPS Usage
21
7 Key Characteristic
22
Return Mode
22
Return Mode Principle
22
1The Strongest Return
22
2Strongest, Last and Dual Returns
22
3Return Mode Flag
22
Phase Lock
23
8 Point Cloud
24
Coordinating Mapping
24
9 Definition of Vertical Angles
25
10 Reflectivity
27
11 Troubleshooting
28
Appendix A Point Time Calculate
29
RS-Bpearl Calculation of Time Stamp in Single Mode
29
RS-Bpearl Calculation of Time Stamp in Dual Mode
31
Appendix B Information Registers
33
Motor(Mot_Spd)
33
Ethernet(Eth)
33
FOV Setting (FOV SET)
34
Motor Phase Offset (MOT_PHASE)
34
Top Board Firmware (TOP_FRM)
34
Bottom Board Firmware (BOT_FRM)
35
Serial Number(SN)
35
Software Version(SOFTWARE_VER)
35
UTC Time(UTC_TIME)
35
Status
36
Fault Diagnosis
37
ASCII Code in GPRMC Packet
38
Corrected Vertical Angle (COR_VERT_ANG)
38
Corrected Horizontal Offset Angle (COR_HOR_ANG)
39
Appendix C Rsview
40
Software Features
40
Installation of Rsview
40
Network Setup
40
Visualization of Point Cloud
40
Save Streaming Sensor Data into PCAP File
42
Replay Recorded Sensor Data from PCAP Files
42
RS-Bpearl Factory Firmware Parameters Setting
44
Setting Rsview Data Port
46
Firmware Update Online
46
Troubleshooting by Fault Diagnosis
47
Appendix D RS-Bpearl ROS Package
49
Software Installation
49
Compile RS-Bpearl ROS Package
49
Configure PC IP Address
49
Display of the Real-Time Data
49
Offline Display the Recorded PCAP File
50
Appendix E Dimension
52
Appendix F Suggestion of Mechanical Lidar Mount
53
Appendix G Seek MSOP and DIFOP Port Number
54
Appendix H Clean of Lidar
55
Attention
55
Required Materials
55
Clean Method
55
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RoboSense RS-Bpearl Specifications
General
Brand
RoboSense
Model
RS-Bpearl
Category
Accessories
Language
English
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