Introduction

The RoboSense E1R represents a high-performance solid-state LiDAR employing Flash scanning technology with an ultra-wide 120° × 90° field of view. For beginners, the first step after receiving the sensor involves connecting it to a computer and viewing the point cloud display. This comprehensive guide walks through every minute detail from hardware wiring to software display, resolving common pitfalls like "ping succeeds but no display appears" and "green light flashing" issues.

Hardware Preparation

Before beginning, ensure you have the following components:

  • RoboSense E1R LiDAR unit (main sensor body)
  • Interface Box: Since the LiDAR uses automotive Ethernet interfaces, an interface box is required for conversion to standard Ethernet ports
  • Power Adapter: Voltage requirement 9V-16V (12V 2A DC power supply recommended, standard DC 5.5-2.1mm connector)
  • Ethernet Cable: Category 5e or Category 6 cable (one piece)
  • Windows Computer: Windows 10 or Windows 11 recommended
  • Additional necessary wiring (provided by the supplier)

Step 1: Physical Connection

Follow this connection sequence to protect sensitive electronic components:

  1. LiDAR Connection: Insert the LiDAR's large TE curved connector into the corresponding interface box port, ensuring firm seating
  2. Network Connection: Connect the interface box's RJ45 Ethernet port to your computer's Ethernet port using the Ethernet cable
  3. Power Connection: Finally, connect the power adapter

Observation: The interface box's green indicator light should illuminate.

Important Note: If the green light flashes, this typically indicates the LiDAR is transmitting high-frequency data—this represents normal operation.

Step 2: Computer Network Configuration (Critical Step)

Communication between the LiDAR and computer requires both devices to reside on the same network segment with IP addresses matching the LiDAR's transmission target.

LiDAR Default Information

  • LiDAR Static IP: 192.168.1.200
  • LiDAR Transmission Target IP: 192.168.1.102 (the LiDAR defaults to sending data only to this .102 address)

Computer IP Configuration Steps

  1. Open: Control Panel → Network and Sharing Center → Change Adapter Settings
  2. Right-click your Ethernet adapter, select Properties
  3. Double-click "Internet Protocol Version 4 (TCP/IPv4)"

  4. Select "Use the following IP address":

    • IP Address: Manually enter 192.168.1.102 (must be exactly this address)
    • Subnet Mask: Enter 255.255.255.0
  5. Click OK to save

Step 3: Connectivity Verification (Ping Test)

Before opening software, confirm physical link connectivity:

  1. Press Win + R on keyboard, type cmd, press Enter
  2. Enter command: ping 192.168.1.200

  3. Result Interpretation:

    • If displaying "Reply from 192.168.1.200," connection succeeded
    • If displaying "Request timed out," check Ethernet cable and computer IP configuration

Successful Output Example:

C:\Users\Z>ping 192.168.1.200

Pinging 192.168.1.200 with 32 bytes of data:
Reply from 192.168.1.200: bytes=32 time=1ms TTL=255
Reply from 192.168.1.200: bytes=32 time<1ms TTL=255
Reply from 192.168.1.200: bytes=32 time=3ms TTL=255
Reply from 192.168.1.200: bytes=32 time<1ms TTL=255

Ping statistics for 192.168.1.200:
    Packets: Sent = 4, Received = 4, Lost = 0 (0% loss)
Approximate round trip times in milli-seconds:
    Minimum = 0ms, Maximum = 3ms, Average = 1ms

Step 4: Environment Cleanup (Disable Firewall)

This step resolves 90% of cases where users receive no point cloud data: Windows Firewall blocks UDP packets.

Firewall Disabling Steps

  1. Navigate to: Control Panel → System and Security → Windows Defender Firewall
  2. Click "Turn Windows Defender Firewall on or off" on the left side
  3. Select "Turn off" for both Private and Public network settings
  4. Click OK

Note: You may re-enable the firewall after testing completes, but it must remain disabled during LiDAR debugging.

Step 5: RSView Visualization Software

Software Setup

  1. Download: Visit the RoboSense Official Website Resource Center to download the latest RSView version
  2. Extraction Warning: The extraction path must not contain any Chinese characters, otherwise the software will fail to open or produce errors
  3. Execution: Double-click RSView.exe

  4. Stream Configuration:

    • Set the appropriate stream address based on your LiDAR configuration
    • Click OK to confirm

Viewing Point Cloud

After confirmation, you should see a colorful point cloud display within the black 3D grid space. Use your mouse left button to rotate the viewpoint and the scroll wheel to zoom.

Troubleshooting Common Issues

Q: Ping Succeeds, But RSView Shows Black Screen?

A: Check two points:

  1. Verify computer IP is strictly set to 192.168.1.102
  2. Confirm firewall is completely disabled

Q: Is Interface Box Green Light Flashing Normal?

A: Yes, this is normal. Flashing typically indicates the LiDAR is continuously transmitting UDP point cloud data packets at 10Hz frequency.

Q: LiDAR Housing Feels Very Hot?

A: The E1R is a high-power solid-state LiDAR—heat generation during operation is normal. Avoid prolonged operation in enclosed, poorly ventilated environments, and avoid direct prolonged hand contact with the housing.

Experiment Conclusion and Maintenance

Power-Down Sequence

  1. First disconnect the interface box's DC power
  2. Then close the software
  3. Avoid frequently plugging and unplugging the LiDAR's TE connector while powered

Cleaning Procedures

If the window develops fingerprints:

  • Use lint-free cloth lightly dampened with alcohol
  • Gently wipe the surface
  • Never use dry paper towels, as they may scratch the optical coating

Final Thoughts

This comprehensive tutorial should enable you to successfully begin your RoboSense E1R exploration journey. The key to success lies in careful attention to network configuration details and ensuring firewall settings don't block the UDP data transmission that carries point cloud information.

Remember that the green flashing light indicates normal operation—the LiDAR is actively transmitting data. If you've verified network settings and disabled the firewall but still see no point cloud, double-check that your IP address is exactly 192.168.1.102 with subnet mask 255.255.255.0. Even a single digit error will prevent communication.

For additional questions or issues encountered during your LiDAR work, community forums and the manufacturer's support channels provide valuable resources for troubleshooting and advanced configuration options.