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The PolySync Team

ibeo Lux 4l

General

Interface name
  • ibeo-lux-4l
Interface file
  • libps_ibeo_lux_4l_interface.so
Supported Since
  • N/A
OEM Hardware/Software/Firmware Version  
Sensor Communication Protocol  
PolySync Sensor Type
  • 210
Driver Notes
  • SDF sensor configuration's serial number must match the sensor's serial number in order to validate
  • Requires a CAN connection when motion data is to be sent to the sensor for sensor-local motion corrections
  • For object detection sensors must set contour point density to closest point only by default, set by default in driver
  • For object detection sensors must set scan frequency to 12.5 Hz, set by default in driver
  • -t perform a validation test on the Ibeo LUX 4L interface [optional]
  • -a set Ibeo LUX 4L device IP using provided address, power cycle to apply [optional]
  • This sensor does not return a Z coordinate position for objects, thus it returns PSYNC_POSITION_NOT_AVAILABLE in those fields.

(OEM) Sensor Description

PolySync Configuration

  • Locate CAN hardware and circuit identifiers.
  • Copy these numbers into SDF configuration
  • Run driver

For more information check out the parsing sensor identifiers article.

Interface Requirements

  • List if it's CAN/Eth/Serial, etc.
  • Default IP Address or similar
  • If there are network restrictions (buffer sizes, MTU size, etc) list them here

Input Message Types

Input Msg Type
Notes
Native byte stream stored as ps_byte_stream_msg

Ethernet - TCP socket

Default IP: 192.168.0.X

Default port: 12002

Output Message Types

Output Msg Type
Notes
ps_lidar_point_stream_msg Lidar points
ps_object_stream_msg device detected objects
Native CAN message Used to send motion data to the sensor from the driver when enabled

Command Line Arguments

  1. -h show this help message [optional]
  2. -o enable output of log messages to stdout (in addition to syslog) [optional]
  3. -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
  4. -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
  5. -n SDF node configuration key for the node [required]
  6. -i use provided PAL interface file instead of what is stored in the SDF [optional]
  7. -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
  8. -t perform a validation test on the Ibeo LUX 4L interface [optional]
  9. -a set Ibeo LUX 4L device IP using provided address, power cycle to apply [optional]

Events

Event ID
Event Description
Implemented (y/n)
Active When
Notes
N/A N/A

Parameters

Parameter ID
Description
Notes
800 Active Coordinate Frame Identifier  
810 Output Field of View Range  
1002 Sensor 0 X Position Meters
1003 Sensor 0 Y Position Meters
1004 Sensor 0 Z Position Meters
1005 Sensor 0 Roll Orientation Degrees
1006 Sensor 0 Pitch Orientation Degrees
1007 Sensor 0 Yaw Orientation Degrees
501 Socket 0 Address  
500 Socket 0 Port Number  
400 CAN Channel 0 Hardware Identifier  
401 CAN Channel 0 Circuit Identifier  
3600 Provide sensor with platform motion data. 1 or 0 (true or false).  
3601 Provide object data. 1 or 0 (true or false). If mount pitch or roll are set object data is automatically disabled.  
3602 Provide scan point data. 1 or 0 (true or false).  
3604 Set device scan frequeny [Hz]. Options: 12.5, 25.0, 50.0  

Other resources

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