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13 Capture PCAP file for rs_driver

13.1 Capture with WireShark

13.1.1 Choose NIC

First choose a NIC。Here choose enp0s3.

  • Don't choose any. If so, the protocol of PCAP file is linux cooked capture. rs_driver doesn't accept it.
  • If the LiDAR works on VLAN, select to capture on physical NIC or virtual NIC. There is VLAN layer in former case, and there is no VLAN in latter case.

Use the following network tools to find out the NIC name.

  • ipconfig - on Windows
  • ifconfig - on Linux

13.1.2 Capture

Now capture packets.

13.1.3 Export PCAP files

13.1.3.1 filter out non-MSOP/DIFOP packets

You may exclude non-MSOP/DIFOP packets with filter criteria.

  • Filter criteria with ports 6699 and 7788.

13.1.3.2 Export All

Select Menu File -> Export Specified Packets ... to get this dialog.

Export all packets. In above picture, select All Packets under Packet Range, to export all packets.

  • Select pcap format instead of pcapng. rs_driver doesn't support the latter.
  • Under Packet Range, there are two columns: Captured and Displayed. Keep Displayed here.
    • Captured are all captured packets. Displayed are the filtered. For example, in the line of All packets, captures 24333, and leaves 23879 after filtering.
    • If Captured export packets from all captured packets, else export only the filtered.

13.1.3.3 Export a Range of packets

Here export a range of packets.

  • This example give a range 1-10000. These two numbers are from all packets. Actually 9805 packets are exported.

13.1.3.4 Mark and Export

Here mark a few packets and export them. First mark the packets with Menu Mark/Unmark Packet.

Select Marked packets only.

13.1.3.5 Mark and Export A Range

Here mark two packets, and export all packet between them. Select First to last marked.

13.2 Capture with tcpdump

tcpdump is the a tool on Unix/Linux.

As below, capture packets on NIC eno1 and save them into a.pcap, with filter criteria UDP and destination port 6699 or 7788. And capture 30000 packets.

sudo tcpdump -i eno1 -w a.pcap -c 30000 'udp dst port 7788 or 6699'

Use ifconfig to find out the NIC name.

Don't use the option-i any. It captures on NIC any , and the protocol is linux cooked capture. This is not the Ethernet protocol. rs_driver doesn't accept it.

sudo tcpdump -i any