Dear Customers,

The PolySync Support Center is now just for submitting tickets to our support team. All articles and tutorials have been moved to the new PolySync Help Center and the content below will be removed shortly.

Thank you,
The PolySync Team

Hokuyo UTM-30LX

General

PolySync Driver dynamic-driver-srl
Supported Since N/A
Driver Notes
  • SDF sensor configuration's serial number must match the sensor's serial number in order to validate
  • The SDF sensor configurations serial number should reflect the sensor number excluding the terminating letter, i.e. sensor number H1234567A corresponds to serial number H1234567
    • Sensor number shall be defined in the SDF in I/O Configurations -> io_string
  • Upper limit on discoverable ttyACM and ttyUSB devices is 16, if more are present sensor may not be found.

Input Message Types

Input Msg Type
Native byte stream stored as ps_byte_stream_msg

Output Message Types

Output Msg Type
Notes
ps_lidar_point_stream Lidar points

Events

Event

ID

Event

Description

Implemented

(y/n)

Active

When

Notes

N/A  

 

  N/A

Parameters

Parameter ID
Description
Notes
100 Sensor mount position X Meters
101 Sensor mount position Y Meters
102 Sensor mount position Z Meters
103 Sensor mount yaw Degrees
104 Sensor mount pitch Degrees
105 Sensor mount roll Degrees
106 Sensor serial number Reflects SDF sensor configuration
107 Sensor type PolySync sensor type
703 Sensor warning register See Sensor States table below
1000 Publish ps_byte_stream_msg TRUE = 1, FALSE = 0
1006 Publish ps_lidar_point_stream_msg TRUE = 1, FALSE = 0

 

Sensor States

Sensor State
Notes
ERR_NONE  0, good sensor state
ERR_ABNORMAL_STATE 1, abnormal sensor state
ERR_UNSTABLE_STATE 2, unstable sensor state
ERR_RMSG_UNDEFINED 3, command in request message is undefined
ERR_RMSG_NOT_SUPPORTED 4, command in request message is not supported
ERR_USER_STR_LENGTH 5, user defined string exceeded 16 characters
ERR_BAD_USER_STRING 6, unknown problem with user defined string
ERR_RMSG_SHORT 7, request message shorter than expected
ERR_RMSG_LONG 8, request message longer than expected
ERR_RMSG_PARAM_01 9, parameter 1 specified in request has a problem
ERR_RMSG_PARAM_02 10, parameter 2 specified in request has a problem
ERR_RMSG_PARAM_03 11, parameter 3 specified in request has a problem
ERR_RMSG_PARAM_04 12, parameter 4 specified in request has a problem
ERR_RMSG_PARAM_05 13, parameter 5 specified in request has a problem
ERR_RMSG_PARAM_06 14, parameter 6 specified in request has a problem
ERR_RMSG_PARAM_07 15, parameter 7 specified in request has a problem
ERR_WRONG_RMSG_STATE 16, request message cannot be received in current sensor state

ERR_UNKNOWN

17, unknown error state

 

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