RoboSense RS-Box Manuale utente

RS-Box User Manual

Contents

Document Update History.............................................................................................................................. 2

1. Safety Tips.................................................................................................................................................. 1

2. Product Introduction................................................................................................................................... 1

3. Electric Interface.........................................................................................................................................2

3.1 Power Supply............................................................................................................................................2

4. Guidelines................................................................................................................................................... 3

5. Output docking........................................................................................................................................... 9

6. WEB console............................................................................................................................................ 12

7. Run Perception Algorithms at the RS-Box.............................................................................................. 14

8. Appendix A Mechanical Dimensions....................................................................................................... 16

Thank you for purchasing the RS-Box. Please read this Manual carefully

before use and wish you a pleasurable experience with the product.

RS-Box User Manual

Document Update History

Version

Date

Update Description

V2.0

2019.1.5

1. Version updated to 2.0；

2. Added the perceptual receiving packet program Demo under

Windows 7 system;

3. Added the method to run the perception programs at the

RS-box end.

4. Updated the method to obtain materials.

5. Deleted introduction on operations that are no longer to be

used.

RS-Box User Manual

1. Safety Tips

To reduce the risk of damage and to avoid violating the warranty terms, please

do not dismantle or assemble RS-Box, please do not make any change or extra

operation on the pre-installed systems or on the RS-LiDAR-Algorithms related

programs other than what has been described in this Manual.

Reading - Please read the operating instructions and safety tips carefully before using

the product.

Following - Please follow all the operating instructions and safety tips given in this

Manual.

Retaining - Please retain the operating instructions and safety tips for future reference.

Warning- Please observe all safety instructions and warnings attached to avoid

accidents.

Servicing-Please do not attempt to service the product other than what has been

described in this Manual. For servicing, please contact RoboSense.

2. Product Introduction

RS-Box is a plug-and-play LiDAR algorithm hardware platform introduced by

RoboSense. Developed in compliance with mechanisms of RS-LiDAR,

RS-Box has RS-LiDAR-Algorithms which require no complicated

configuration processes. Coordinating with RS-LiDAR, users can in no speed,

seamlessly integrate LiDAR perception modules to their autonomous driving

architecture, realizing the dream of attaining autonomous driving LiDAR

environment perception capability with just a push of a button.

Activated by with single key on Web, the RS-Box will then transmit perception

data on obstacles identification, classification and moving objects tracking

through LAN. RS-Box is embedded with RS-LiDAR data receiving,

translating, and processing algorithms, thus users can easily integrate the data

into their autonomous driving system without concerns on the perception data

processing. (To have good test results, please test RS-Box in an outdoor

environment. Recommended installation height of RS-LiDAR is 1.2-2m).

RS-Box User Manual

3. Electric Interface

3.1 Power Supply

RS-Box requires to work with a power supply of 19V-4.74A, 90WMAX.

Please use the original power adapter coming with the RS-Box.

3.2 Electric Interfaces

Figure 1 RS-Box Electrical Interface

RS-Box User Manual

Notes:

1. LAN：With switch which is connected to the RS-LiDAR and the user receivers connected

to the network, the LAN port can receive the RS-LiDAR-16 point cloud data and send the

RS-LiDAR-Algorithms perception results.

2. DC: The input voltage. Please use the original power adapter.

3. Power: RS-Box boot-up button.

4. Guidelines

Note: The configuration of the RS-Box has been set up within the factory, please do

not modify system configuration without technicians.

Procedures:

Devices Connection: Use a SWITCH to connect the RS-LiDAR, RS-Box, and the

Receiver computer (Recommend to use Ubuntu computer with ROS system). Boot

up the RS-Box with a push on the Power button. Device connection as follows:

Figure 2 RS-Box Connecting Diagram

RS-Box User Manual

Receiving terminal configuration: the receiver computer IP should be addressed

as :192.168.1.xxx (Please note not to use the IP of 192.168.1.102 which will cause

conflict with the IP of the RS-Box).

Web Browser: open up a web browser on the user terminal computer and input

192.168.1.102 in the address bar, and then open up the console.

Static Parameter Modification: for the first time of using the LiDAR, or changing a

LiDAR, please change the static parameter. The static parameter file can be found under the

configuration_data file. packed in the U-Disk which comes with the LiDAR. Procedures are

as follows:

A. Select “change static parameter” on the left of the Web Console

B. Click “click to choose file” on the right and choose the static parameter file, after

confirmation, the chosen static parameter file will appear under the “upload” button.

C. Click the “upload” button to upload the file.

Change Parameter File. The parameter file is the configuration file for the perception

algorithms RS-LiDAR-Algorithms. If no special requirements are needed, please use the

default parameter file. Procedures to change the parameter file are as follows:

A. Select the change static parameter file on the left of the Web Console.

B. Click “click to choose file”on the right and choose the parameter file, after

confirmation, the chosen parameter file will appear under the “upload”button(Note: the

parameter file name is fixed, please do not try to change the file name).

C. Click the “upload” button to upload the file.

Launch Perception Algorithms：Click the “click to play”button at the left of the Web

console, then click “start 16 channels LiDAR perception”. If the web terminal displaying

RS-Box User Manual

area output data as shown below, it means the algorithm is launched successfully. To

test(we recommend you to test in the outdoor environment, and the recommended

installation height of the RS-LiDAR is 1.2-2m) or use the perception results, please refer to

chapter 5: Output Docking.

View Point Cloud and Real-Time Perception Results at User Terminal Computer

To check the point cloud and perception results, please use the ubuntu16.04+ROS system

and launch the perception algorithm at the web console, the user terminal computer should

be at the same LAN and the same network segment as the RS-Box.

Note: There is no need to configure the RS-BOX to view the point cloud. Please do not

modify RS-Box configuration unless it is necessary)

The steps to view the point cloud and perception results are as follows:

Step 1. Input “sudo gedit /etc/hosts” at the user terminal to open the hosts file, insert the line

“192.168.1.102 tegra-ubuntu” in the middle, save and then

exit.

RS-Box User Manual

Step 2. Configure the .bashrc file, input “sudo gedit ~/.bashrc” at the user terminal, click

“Enter” to open the .bashrcfile, (Note: if the used shell is zsh, please input “sudo gedit

~/.zshrc”). Then add a line at the end of the file:

“export ROS_MASTER_URI=http://tegra-ubuntu:11311/”, save and exit.

RS-Box User Manual

After the configuration is completed, check the point cloud and the real-time perception

results through RVIZ: Input "rviz -d ~/robosense.rviz" at the terminal (Note:

~/robosense.rviz" is the sample path, please modify it according to the actual storage path).

The robosense.rviz file is stored in the attachment of the perception receiving packet(Please

contact Robosense to attain the attachment of the perception receiving a packet).

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