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Protocol and Integration: Compact & MSGPACK

Article No: KA-09480
Version: 2.0
Subject to change without notice
This article provides additional information and instructions to the Compact and MSGPACK data format as well as the corresponding software modules and examples ScanSgementApi and ScanSegmentDecoding.
Related Products
LRS4000
multiScan100-S
picoScan100
multiScan100
Attachments
IntegrationAndConnectivity__ScanSegmentApiAndScanSegmentDecoding_V1.pdf
IntegrationAndConnectivity_CompactAndMsgoack.pdf

Table of Contents

The following table provides an overview of which LiDAR supports what data protocol.

 

Sensor

Compact (UDP)

Compact (TCP)

MSGPACK (UDP)

 

X

 

 

 

X

 

X

 

 

 

 

X

 

 

 

 

X

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Receive event-driven measurement data streaming

 

Communication concept of measurement data streaming:

 

 
 

Protocol

This section provides an overview on additional information to Compact and MSGPACK.

 

Please note that data format descriptions can be found at the  "Downloads" section of any LiDAR supporting Compact/MSGPACK.

 

 

 

 

Description

Link

 

Data format description Compact and MSGAPCK

 

Advanced explanation LiDAR data protocol Compact and MSGPACK

Please see attached PDF "IntegrationAndConnectivity__CompactAndMsgpack"
 

Integration

This section provides an overview on the different software modules to integrate LiDAR sensors with Compact and MSGPACK data stream.

 

Please note that data format descriptions can be found at the  "Downloads" section of any LiDAR supporting Compact/MSGPACK.

 

Description

Link

 

Customer code samples in Python to parse and access received Compact and MSGPACK data from the LiDAR.

 

Python based decoding library for Compact and MSGPACK to be used in customer implementations

 

C# based decoding library for Compact and MSGPACK to be used in customer implementations

 

ROS driver with also ROS independent C, C++ and Python base implementation

 

Kaitai struct files to compile Compact parsers (available programming languages: see: https://kaitai.io/) 

 

Advanced explanation on how to work with ScanSegmentAPI and ScanSegmentDecoding GIT project and description.  

Please see attached PDF "IntegrationAndConnectivity__ScanSegmentApiAndScanSegmentDecoding"
Keywords:
Connectivity, Driver, Example, Compact, MSGPACK, ScanSegmentAPI, ScanSegmentDecoding, Protocol, Software
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