RoboSense Bpearl LiDAR User Guide

RoboSense Bpearl LiDAR user guide: 32-channel short-range 3D LiDAR with 360°×90° FOV, 0.1m blind zone, MSOP/DIFOP protocols, Web UI setup, and troubleshooting.

RoboSense Bpearl LiDAR

RoboSense Bpearl High-Perf LiDAR: 360°Horizontal FoV,Hemispherical FoV,Blind-spot detection area:≤10cm.For humanoids, drones, and AGV/AMR platforms.

aifitlab.com

1. Product Description

1.1 Product Overview

Bpearl is a new type of short-range 3D LiDAR specifically designed by RoboSense to eliminate blind spots. It is primarily used in applications such as robot environment perception, autonomous vehicle environment perception, drone mapping, and smart cities.

Bpearl adopts RoboSense innovative signal processing technology, allowing for a minimum detection distance as close as 10 centimeters. With its hemispherical ultra-wide field of view design, it can effectively detect various extremely close-range obstacles over a large area.

1.2 Product Structure

The structure of Bpearl is illustrated in Figure 1 .

Figure 1 Product Structure Description

It mainly includes the following components:

1. Protective Cover

Both the emitted laser and returned laser need to pass through the specially designed arc-shaped protective cover. Therefore, any obstruction within the laser’s field of view (FOV) is strictly prohibited.

2. Aviation Connector

The LiDAR body is connected to the interface box via an aviation connector, enabling power supply and data transmission functionalities.

3. Mounting Holes

Used to support and fix the position and orientation between the LiDAR and the bracket, it enhances installation efficiency and accuracy.

4. M3 Screw Mounting Holes

Used to secure the LiDAR to the mounting bracket with M3 screws.

1.3 FOV Distribution

Bpearl’s FOV has a horizontal angular range of 0 to 360 degrees and a vertical angular range of 0 to 90 degrees, with an angular interval of approximately 2.81 degrees. The 32 lasers are defined as 32 channels, and their corresponding relationship with the real vertical angles is shown in Figure 2 .

(a) FOV Area Distribution

(b) Vertical Angular Distribution

Figure 2 FOV Illustration

1.4 Specifications

Table 1 Bpearl Specifications

1. Measurement Range is based on a 10% NIST diffuse reflection target, and the test results are subject to environmental factors such as ambient temperature and light intensity.；
2. Measurement Accuracy is based on a 50% NIST diffuse reflection target, and the test results are affected by environmental factors, including ambient temperature and target distance. The accuracy value applies to most channels, but variations may exist between certain channels；
3. Device Power Consumption test results are influenced by external environmental factors, including ambient temperature, target distance, and target reflectivity;
4. Device Operating Temperature may be affected by external environmental factors, including lighting conditions and airflow variations；

1.5 Product Principle

1.5.1 Coordinate Mapping

As the LiDAR data packet contains only horizontal rotation angles and distance parameters, to present a three-dimensional point cloud, the polar coordinates (angle and distance) are transformed into Cartesian coordinates (x, y, z) according to the following equations:

$x = r*cos(w) * sin(α) + R*cos(α)$

$y = r*cos(w) * cos(α) + R*sin(α)$

$z = r*sin(w)$

where r is the measured distance, ω is the laser’s vertical angle, α is the laser’s horizontal rotation angle, R is the plane radius from the optical center to the origin, Z is the height from the optical center to the origin, and x, y, z are the coordinates projected onto the Cartesian X, Y, Z axes.

1.5.2 Reflectivity Interpretation

Bpearl LiDAR provides reflectivity information to characterize the reflectance of measured objects. In Bpearl data, the calibrated reflectivity range is from 1 to 255.

1.5.3 Return Modes

1.5.3.1 Return Modes Principle

Bpearl supports multiple return modes, including Strongest Return, Last Return, First Return, and Dual Return modes. In the Dual Return mode, detailed information of the target object is displayed, and the data volume is twice that of the Single Return mode.

Bpearl analyzes multiple return values received and outputs the strongest, last, or first return value based on user selection, or outputs dual return values. In the Strongest Return mode, only the strongest reflected return value is output; in the Last Return mode, only the last detected return in the time domain is output.

Figure 3 Dual Return Detection

1.5.3.2 Return Mode Flags

By default, Bpearl is set to the Strongest Return mode. If the user needs to change the settings, please refer to Appendix A.2 in the product parameter setting for configuration. In DIFOP, the 300th byte represents the flag for the return mode, as shown in Table 2:

Table 2 Return Mode and Flags Mapping

1.5.4 Phase Locking

Bpearl’s phase locking function allows the device to emit lasers at specific angles when the sensor reaches a whole second. Figure 4 illustrates Bpearl’s setup with different phase angles. The red arrows indicate that at the whole second, the sensor rotates to 0°, 135°, and 270° to emit lasers. Refer to Figure 13 for the coordinate system details.

Figure 4 Bpearl Phase Lock Setting Illustration

The “Phase Lock” parameter setting is available in the Web interface under Setting > Phase Lock Setting. It allows users to set the locked phase angle, which should be an integer ranging from 0 to 359. For more details, refer to section 4.2 of the product manual.

1.5.5 Time Synchronization Method

Bpearl supports three time synchronization methods: GPS + PPS, PTP (IEEE 1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these settings through the Web interface. For more details, refer to section 4.2 of the product manual.

1.5.5.1 GPS Time Synchronization Principle

The GPS module continuously sends GPRMC data and PPS synchronization pulse signals to the product. The PPS synchronization pulse length should be between 20 to 200 ms, and the GPRMC data must be completed within 500 ms of the synchronization pulse. The timing diagram is shown in Figure 5 .

Figure 5 GPS Time Synchronization Timing Diagram

1.5.5.2 GPS Time Synchronization Usage

The GPS_REC interface of Bpearl LiDAR adopts the RS232 electrical level protocol.Refer to Table 3 for the pin definition.

Table 3 Product Time Synchronization Pin Definitions

The external GPS module needs to set the output serial port baud rate to 9600 bps, 8 data bits, no parity bit, and 1 stop bit. Bpearl only reads GPRMC-formatted data sent by the GPS module. The standard format is as follows:

$ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12> * hh

<1> UTC time <2> Positioning status: A = valid positioning, V = invalid positioning <3> Latitude <4> Latitude hemisphere N (Northern Hemisphere) or S (Southern Hemisphere) <5> Longitude <6> Longitude hemisphere E (Eastern Hemisphere) or W (Western Hemisphere) <7> Ground speed <8> Ground course <9> UTC date <10> Magnetic declination <11> Magnetic declination direction: E (East) or W (West) <12> Mode indication (A = Autonomous positioning, D = Differential, E = Estimated, N = Data invalid)

• hh at the end represents the XOR sum of characters from $ to *

1.5.5.3 PTP Synchronization Principle

PTP (Precision Time Protocol, IEEE 1588V2 protocol) is a time synchronization protocol used for high-precision time synchronization between devices. It can also be used for frequency synchronization between devices. Compared to various existing time synchronization mechanisms, PTP offers the following advantages:

1. Compared to NTP (Network Time Protocol), PTP can meet higher precision time synchronization requirements. NTP generally achieves sub-millisecond level time synchronization accuracy, while PTP can reach sub-microsecond level accuracy.
2. Compared to GPS (Global Positioning System), PTP has lower construction and maintenance costs.

1.5.5.4 gPTP Synchronization Principle

gPTP (general Precise Time Protocol, IEEE 802.1AS protocol) is a derivative protocol of PTP in Time-Sensitive Networking (TSN). The synchronization mechanism uses the same P2P peer delay mechanism as the PTP protocol and adopts Ethernet L2 layer communication. Unlike PTP, gPTP requires the use of hardware-based timestamps, i.e., hardware timestamps, so the requirements for switches and master clocks are more stringent, complying with the IEEE 802.1AS protocol.

1.5.5.5 PTP/gPTP Wiring Method

To use PTP/gPTP synchronization, the following preparations are required. Refer to section 3.4 of the product manual for connection details:

1. Select PTP/gPTP mode in the Web interface. See section 4.2 of the product manual for details.
2. PTP Master/gPTP Master time source (plug and play, no additional configuration required).
3. Ethernet switch.
4. Devices that support PTP/gPTP protocols and need time synchronization.

2. Product Installation

2.1 Accessory Description

The standard accessories included with Bpearl LiDAR are listed in Table 4 for reference.

Table 4 Standard Accessory List

2.2 Mechanical Installation

The structural installation diagram of the LiDAR is shown in Figure 6

Figure 6 LiDAR Structural Installation Diagram

1. Screw Specifications:

a. GB/T70.1, M4 × 15, internal hexagon socket head, strength grade 10.9, with an anti-drop feature;

b. GB/T70.1, M4 × 20, internal hexagon socket head, strength grade 10.9, with anti-drop feature.

2. Installation Requirements:
1. The installation surface flatness should be better than 0.2 mm.
2. Use three M4 screws to mount the bottom surface, extending 6 ~ 8 mm from the mounting surface. Recommended tightening torque is 20 ± 1 kgf.cm.
3. Use two Φ4 positioning pins for installation and positioning on the bottom surface, not higher than 4 mm.
4. During LiDAR installation, if both the top and bottom surfaces have contact-type mounting surfaces, ensure that the distance between the mounting surfaces is greater than the LiDAR’s height to avoid squeezing the LiDAR.
5. When wiring the LiDAR during installation, do not make the wiring cables too tight (leave more than 2 cm installation allowance) to ensure that the cables have some slack.


Figure 7 LiDAR Bottom Locator Pin and Screw Diagram

3. Bracket Stiffness and Strength Requirements:

a. The fixed bracket needs to have good rigidity for securely mounting the LiDAR and maintaining the LiDAR in a stable state under various conditions. Therefore, the first-order modal frequency of the LiDAR and its fixed bracket should be at least greater than 50 Hz.

b. The LiDAR will undergo various random vibrations and mechanical shocks during use. Under these conditions, the bracket needs to withstand significant loads, so it also requires sufficient strength. The bracket material is recommended to be aluminum alloy (thickness above 4 mm) or galvanized steel plate (thickness above 2 mm). Strengthening ribs should be added in various directions to improve its rigidity and strength as much as possible. It is advisable to avoid designing structures with sharp angles, corners less than 0.3 mm, or notches, which may cause stress concentration. The bracket strength needs to be verified through simulation.

4. Heat Dissipation Requirements:

a. The bracket material is recommended to be made of aluminum alloy or galvanized steel plate with a thermal conductivity greater than 50 W/m·K. Some heat dissipation fins should be added to the bracket, with reasonable spacing, height, and direction of the fins to increase the heat dissipation area. The direction should align with the air convection direction for more effective heat dissipation.

b. Ensure that the LiDAR base or top cover is not covered with non-metallic materials to avoid affecting the overall heat dissipation, leading to excessive temperature rise of the LiDAR.

2.3 Interface Description

2.3.1 Aviation Plug Interface and Definitions

The cable aviation plug on the Bpearl LiDAR side is shown in Figure 8 .

Figure 8 Aviation Plug Interface Pin Numbers

The cable length on the LiDAR side is 0.5m. The specific pin definitions of the aviation plug interface on the LiDAR side are shown in Table 5.

Table 5 Aviation Plug Interface Pin Definitions

2.3.2 Interface Box

The Bpearl accessory Interface Box is equipped with power indicator lights and various interfaces, which can be connected to power input, RJ45 Ethernet port, and GPS input cable (the length of the interface box cable for aviation plug version is 3 meters, for other cable length requirements, please contact Robosense).

Figure 9 Interface Box Schematic

The detailed specifications of each Interface Box interface are listed in Table 6.

Table 6 Interface Box Interface Specifications

2.3.3 Power Interface

The Bpearl power interface uses a standard DC 5.5 - 2.1 interface.

When the Interface Box is working normally, the red input and green output indicator lights will be lit. If the external power input is normal, but the indicator lights on the Interface Box are not lit, the Interface Box may be damaged. In this case, please contact Robosense.

2.3.4 RJ45 Ethernet Port

The Bpearl Ethernet interface follows the EIA/TIA568B standard.

2.3.4.1 GPS Sync Interface

The Bpearl sync interface is defined as follows: GPS REC is for GPS UART input, and GPS PULSE is for GPS PPS input.

The pin positions of the Interface Box sync interface are shown in Figure 10 .

Figure 10 Sync Interface Pin Positions

For the detailed interface definitions, please refer to Table 7.

Table 7 Sync Interface Definitions

2.4 Quick Connection

The Bpearl network parameters can be configured, and the default factory setting uses fixed IP and port number mode, as shown in Table 8.

Table 8 Default Factory Network Configuration Table

When using the product, the user needs to set the computer’s IP address to be in the same subnet as the product, for example, 192.168.1.x (where x can be any value between 1 and 254), and the subnet mask is 255.255.255.0. For unknown product network configuration information, please connect the product and use Wireshark to capture the output package of the product for analysis. The IP configuration and connection methods are as follows:

1. Connecting the LiDAR

The connection method is shown in Figure 11 .

1. Connect the LiDAR and Interface Box using the aviation plug.
2. Connect the PC and Interface Box using the RJ45 Ethernet port.
3. After powering on, under normal working conditions, the red and green power indicator lights on the LiDAR’s Interface Box will be constantly on. The positions of the indicator lights are shown in Figure 9 .


Figure 11 Interface Box Connection Diagram

2. Through the “.pcap” packets captured by Wireshark software, get the Local IP of Computer by analyzing " arp" packets
1. Perform the following steps after the LiDAR and PC are connected:
2. Start Wireshark (a third-party network analysis tool) and select the correct network interface to begin capturing packet.
3. Use the search box in Wireshark and enter “arp” to search for the mutual addressing packets between the LiDAR and PC, as shown in Figure 12 .


Figure 12 Analyzing ARP Packets

4. In Figure 12 , the “Suteng In” in the Source column indicates the source information of the LiDAR, indicating that the Source IP is 192.168.1.200, which is the LiDAR’s IP. The request is accessing 192.168.1.102, which is the PC’s IP. If the local IP is not the requested access IP, then configure the PC’s local IP as 192.168.1.102 as shown in step 3. If the access is successful, proceed to step 4.
3. Configuring the PC’s Local IP
1. In the Control Panel, go to “Network and Internet” and then “Network and Sharing Center.” In the “View your active networks” section, click on the corresponding Ethernet connection to enter the corresponding “Ethernet Status,” and then click on “Properties.”
2. Double-click “Internet Protocol Version 4 (TCP/IPv4)” to enter the IP information settings and use a static IP for configuration.
3. Set the local IP address to 192.168.1.102, subnet mask to 255.255.255.0 and click “OK” to complete the PC’s static IP setting.
4. Connection Completed
💡
Note:
1. The time synchronization module (PTP & gPTP, GPS time synchronization module) is not included as a standard product. If you need to use these features, please purchase them separately and follow the connection method shown in Figure 11 .
2. The configuration of the local static IP provided above is only an example for Windows operating systems. For other operating systems, please refer to the actual instructions.

3. Product Usage

3.1 Product Coordinate System

The coordinates and rotation direction of the product are shown in Figure 13 .

Figure 13 LiDAR Coordinate and Rotation Direction Illustration

3.2 Web UI Usage

3.2.1 Web UI Functions

Bpearl supports parameter settings, viewing of operational information/status, and firmware upgrades through the Web UI interface.

The Bpearl web address changes according to the Device IP. The default Device IP is 192.168.1.200. If you have changed the Device IP, the web address will be the newly set IP.

3.2.2 Accessing the Web UI Interface

Once the product is connected and correctly configured as required, use a computer browser to access the product’s IP address (default Device IP: 192.168.1.200) to enter the Bpearl web homepage. The default page is the “Device” tab.

3.2.3 Using the Web UI Interface

For detailed instructions on using the Web UI interface, please refer to Appendix A of the product manual.

3.3 RSView Usage

For data visualization with Bpearl, you can use free tools such as Wireshark and tcp-dump to obtain raw data. RSView can provide a more convenient way to visualize the raw data.

3.3.1 Software Functions

RSView enables real-time visualization of Bpearl data. It can also replay data saved in “.pcap” file format, but does not support “.pcapng” files at the moment. In RSView, the distance measurement values obtained by Bpearl are displayed as points. It supports various custom colors to display data, such as reflection intensity, time, distance, horizontal angle, and laser beam index. The displayed data can be exported and saved in “.csv” format, and RSView version 3.1.3 and later versions support exporting data in “.las” format. RSView includes the following features:

1. Real-time display of data via Ethernet.
2. Save real-time data as PCAP files.
3. Replay data from recorded PCAP files.
4. Various visualization modes, such as distance, time, horizontal angle, etc.
5. Display point data in tabular format.
6. Export point cloud data as CSV files.
7. Distance measurement tool.
8. Display multiple frames of replayed data simultaneously.
9. Show or hide individual laser beams from Bpearl.
10. Clipping display.

3.3.2 Installing RSView

RSView can be run on Windows 64-bit and Ubuntu 18.04 or higher operating systems. You can download the latest version of RSView software compressed package from the Robosense official website (http://www.robosense.cn/resources). After downloading, make sure the extraction path does not contain Chinese characters. The software does not require installation; simply run the executable file after extraction to use it.

3.3.3 Using RSView

After opening RSView, you can access the user guide by pressing the F1 button or by clicking on the “RS-LiDAR User Guide” option in the Help menu.

3.4 Communication Protocols

Bpearl communicates with a computer via Ethernet using UDP (User Datagram Protocol). The communication protocols between Bpearl and the computer fall into two categories, as described in Table 9.

Table 9 Protocol Overview

3.4.1 MSOP and DIFOP Data Protocols

The UDP packets sent by Bpearl have a payload of 1248 bytes. The data structure for the Main Data Stream Output Protocol (MSOP) and Device Information Output Protocol (DIFOP) is shown in Figure 14 .

Figure 14 LiDAR Data Structure Illustration

3.4.2 Main Data Stream Output Protocol (MSOP)

Main Data Stream Output Protocol, abbreviated as MSOP, is used for product output and computer parsing. The default port number is 6699.

3.4.2.1 Header

The header consists of 42 bytes and is used to identify the start of the data. The data structure details are shown in Table 10.

Table 10 MSOP Header Data Table

3.4.2.2 Data Block Interval

The data block is the measurement part of the MSOP packet and consists of 1200 bytes. It contains 12 Data blocks, each 100 bytes long, representing a complete set of ranging data. Each Data block with 100 bytes includes 2 bytes of the flag, represented as 0xffee. It also contains 2 bytes of Azimuth, representing horizontal rotation angle information, with each angle corresponding to 32 channel data, constituting a complete set of 32-channel information.

Table 11 Data Block Packet Definition

1. Channel Data Definition

The channel data, Channel data, is represented by 3 bytes. The high two bytes represent the distance information, and the low byte represents the reflectivity information, as shown in Table 12.

Table 12 Channel Data Representation

Channel data（3 bytes）
2 bytes Distance		1 byte Reflectivity
Distance1 [15:8]	Distance2 [7:0]	Reflectivity(Reflectivity information)

💡

Note: Distance is represented by 2 bytes with a resolution of 0.25 cm.



Figure 15 MSOP Packet Illustration

Red box: Header ID;

Green box: LiDAR Type and LiDAR Model;

Blue box: Data Block flag;

Black box: Azimuth value of Channel data 1;

Yellow box: Distance value of Channel data 1;

Orange box: Reflectivity value of Channel data 1.

3.4.2.3 Tail

The tail consists of 6 bytes, with 4 bytes reserved information and 2 bytes of 0x00, 0xFF.

3.4.3 Device Info Output Protocol (DIFOP)

Device Info Output Protocol, abbreviated as DIFOP, is used for product output and computer reading. The default port number is 7788. DIFOP is an “output-only” protocol used to periodically send information such as product serial number (S/N), firmware version, computer driver compatibility information, configuration information, angle information, running status, fault diagnosis, etc., to users. Users can read DIFOP to interpret specific information about the currently used product. A complete DIFOP packet has a data format structure of synchronization header, data area, and tail. Each data packet consists of 8 bytes of synchronization header, 1238 bytes of data area (Data), and 2 bytes of tail. The basic structure of the data packet is shown in Table 13.

Table 13 Data Format Structure of DIFOP Packet

4. Fault Diagnosis

This chapter lists some common problems encountered during the use of the product and their corresponding troubleshooting methods. For details, refer to Table 14.

Table 14 Common Fault Troubleshooting Methods

Appendix A Web UI Operation

A.1 Product Information

The web interface of the LiDAR provides the default product information page, as shown in Figure 16 :

Figure 16 Web Interface Home Page

1. Top Board: Mainboard firmware version.
2. Bottom Board: Baseboard firmware version.
3. Software Version: Software version.
4. Motor Firmware Version: Motor version.
5. S/N: Product serial number.
6. Mac Address: MAC address.
7. Model: Product name.

A.2 Product Parameter Settings

The “Setting” section on the web page allows users to config parameters such as Device IP, port number, return mode, speed, angle trigger, and more. The illustration and functionality description are shown in Figure 17:

Figure 17 Web Interface LiDAR Settings

1. Destination IP can be set to either unicast (default) or broadcast mode. Setting Destination IP to 255.255.255.255 enables broadcast mode. The default value is 192.168.1.102.
2. MSOP and DIFOP data ports can be modified, with values ranging from 1025 to 65535.
3. Return Mode dropdown allows selecting the strongest (default)/last/first/dual return mode.
4. FOV (Field of View) can be set within the range of 0 to 360 degrees. Once set, only point cloud data within the specified FOV will be output.
5. Users can set the rotation speed, with options for 300 rpm, 600 rpm (default), and 1200 rpm.
6. Users can select “Time Synchronization Source” from GPS, PTP - P2P, PTP - E2E, and PTP - gPTP for time synchronization.
7. Users can choose different reflectivity mapping modes based on their requirements through the dropdown of “Nonlinear Mapping Mode.” “OFF” represents the original reflectivity mode without any mapping, while “ON” is the enhanced reflectivity mode that improves lane discrimination.
8. Users can select the “Operation Mode” from Standby / High Performance(default). When selecting Standby mode, the LiDAR motor and transmitter will stop operating.
9. Phase Lock supports phase locking settings within the range of 0 to 360 degrees.
10. Motor Reversal determines the motor rotation direction. Checking “on” will result in counterclockwise rotation.
11. Restore Default enables resetting the configuration. Checking this function and saving it will restore the current configuration to its default settings.

A.3 Product Diagnostics / Operating Status

This page allows real-time monitoring of the LiDAR's operating status, including voltage, current, real-time speed, runtime, temperature, and other information, as shown in Figure 18 :

Figure 18 Web Interface Operating Status / Diagnostics

1. Voltage Monitor: Monitors the product’s voltage. In Standby mode, this section will be highlighted in red.
2. Current Monitor: Monitors the product’s current. In Standby mode, the current will reduce to approximately 0.2 A.
3. Power Monitor: Displays the product’s power consumption. In Standby mode, the power consumption will decrease to around 5 W.
4. Temperature Monitor: Displays the current operating temperature of the product.
5. RPM: Displays the real-time rotation speed of the product.
6. Phase: Displays the real-time phase angle of the product.
7. Laser Status: Indicates “On” (default) or “Off.” In Standby mode, the laser status will be “Off.”
8. Star-up Times: Shows the total number of times the product has been started up. It increments once after each power cycle.
9. Elapsed time Total T0: Displays the total running time of the product and the accumulated working time at various temperatures.

A.4 Product Firmware Upgrade

Click on the “System” on the web page. This page allows the firmware upgrade for the mainboard, baseboard, software, web interface, and motor. Follow the steps below:

1. Contact RoboSense to obtain the upgrade firmware. Once the firmware is ready, click “Choose File,” as shown in Figure 19.


Figure 19 Step 1 - Click “Choose File”

2. Select the folder containing the corresponding firmware for the upgrade, then click “Open” (avoid using Chinese characters in the file path), as shown in Figure 20.


Figure 20 Step 2 - Select Firmware for Upgrade

3. After selecting the firmware for upgrade, the filename will change to the selected firmware name, indicating that it is successfully loaded, as shown in Figure 21. Click “Update” to proceed with the upgrade.


Figure 21 Step 3 - Click “Update”

4. The web interface will prompt the upgrade success (or indicate if there is a duplicate version). The product will automatically restart. After the restart, log in again to the web interface homepage and check the Device section to confirm if the upgrade was successful, as shown in Figure 22.


Figure 22 Step 4 - Upgrade Successful Appendix

B ROS & ROS2 Package

rslidar_sdk is the ROS-based driver SDK. You can download it from the RoboSense Git Hub repository or contact RoboSense for access.

1. rslidar_sdk depends on rs_driver, which is the basic RoboSense driver. Download rs_driver from the Git Hub platform.
2. If you are using ROS2, rslidar_sdk also depends on rslidar_msg, which defines the message format. Download the msg file from the Git Hub platform.
3. The SDK package contains comprehensive usage guidelines. Before using the driver SDK, please read the README file and documentation under the doc folder.

Appendix C Register Definitions

This appendix provides additional information to Section 4.4, defining the various registers in the protocol. All calculations are in big-endian format. The “Value” represents the decimal value obtained after converting the offset bytes.

C.1 Motor Speed (MOT_SPD) Register

Table 15 Motor Speed Register

C.2 Ethernet (ETH) Register

Table 16 Ethernet Register

C.3 FOV Setting (FOV_SET) Register

Table 17 FOV Setting Register

C.4 TCP MSOP Port Number

Table 18 TCP MSOP Port Number Register

C.5 Motor Phase Lock (MOT_PHASE) Register Table 19 Motor Phase Lock Register

C.6 Mainboard Firmware Version (TOP_FRM) Register

Table 20 Mainboard Firmware Version Register

C.7 Baseboard Firmware Version (BOT_FRM) Register

Table 21 Baseboard Firmware Version Register

C.8 APP Software Version (SOF_FRM) Register

Table 22 APP Software Version Register

C.9 Motor Firmware Version (MOT_FRM) Register

Table 23 Motor Firmware Version Register

C.10 Baud Rate Settings

Table 24 Baud Rate Settings Register

Baud Rate Settings Register (1 byte)

C.11 Serial Number (SN) Register

Table 25 Serial Number Register

C.12 Time Synchronization Information (TIME_SYNC_INF)

Table 26 Time Synchronization Information Register

C.13 Time (UTC_TIME)

Table 27 Time Register

C.14 Operating Status (STATUS)

Table 28 Operating Status Register

C.15 Product Operating Time (Elapsed Time)

Table 29 Product Operating Time Register

C.16 Fault Diagnostics (FALT_DIGS)

Table 30 Fault Diagnostics Register

Table 31 GPS Signal Input Status Register

C.17 GPRMC Data Packet - ASCII Code Data Type

The GPRMC data packet reserves 86 bytes and adapts to the complete storage of received GPRMC messages based on the length of the GPRMC message output by the external GPS module. It can be parsed and viewed in ASCII code.

C.18 Vertical Angle Calibration (COR_VERT_ANG)

Table 32 Vertical Angle Calibration Register

C.19 Horizontal Angle Calibration (COR_HOR_ANG)

Table 33 Horizontal Angle Calibration Register

Appendix D Accurate Point Time Calculation

It takes 55.56 us for 32 channels to complete one round of transmission sequentially. In each MSOP (Multi-segment Offset Protocol) Packet, there are 12 blocks, and each

block contains a complete set of data for 32 channels. Therefore, one packet contain 12 complete sets of laser data. The time calculation for a single return point can be

found in Table 34. In the dual return mode, each MSOP Packet contains 12 blocks. Every two blocks represent the dual return ranging results obtained from the 32-channel laser after one round of transmission. For example, Block 1 and Block 2 represent the dual return data obtained after 32 channels transmit laser once, where Block 1 contains the data of the strongest return, and Block 2 contains the data of the second strongest return. The time calculation for a dual return point can be found in Table 35. Table 34 Time Offset for Each Laser Point in Single Return within MSOP Packet

Table 35 Time Offset for Each Laser Point in Dual Return within MSOP Packet