General
Interface name |
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---|---|
Interface file |
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Supported Since |
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OEM Hardware/Software/Firmware Version | |
Sensor Communication Protocol | |
PolySync Sensor Type |
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Driver Notes |
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(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
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Notes
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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
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Notes
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---|---|
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
- -h show this help message [optional]
- -o enable output of log messages to stdout (in addition to syslog) [optional]
- -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
- -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
- -n SDF node configuration key for the node [required]
- -i use provided PAL interface file instead of what is stored in the SDF [optional]
- -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
- -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]
Events
Event ID
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Event Description
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Implemented (y/n)
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Active When
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Notes
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---|---|---|---|---|
N/A | N/A |
Parameters
Parameter ID
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Description
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Notes
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---|---|---|
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 |
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