What You Will Need
- A computer capable of running PolySync (see the PolySync Installation Guide)
- The system should be compliant with the System Requirement
- It should be running Ubuntu Linux version 14.04
- It should have compliant hardware with at least 4GB of RAM
- It should have all of the run-time dependencies available; these are included in the installation process and can be seen in the polysync/README.txt file
- The system should have PolySync installed
- The system should have a license
Starting the Data Generator
The example program polysync-data-generator-c is included as part of the PolySync installation and is designed to put test data on the bus. It provides data in several different types:
- Radar Targets
- LiDAR Points
In order to start the data generator, it is best to have the PolySync Manager running to manage the wall clock. This will synchronize the different nodes that will be started.
With PolySync installed, all PolySync applications should already exist in the current path. Start the PolySync Manager in background mode by running.
Once PolySync Manager is running, the PolySync Data Generator can also be started by running:
Running PolySync Viewer Lite
PolySync Viewer Lite is an OpenGL based application that allows the user to see some very basic details about the data being transmitted over the PolySync bus.
To run PolySync Viewer Lite, run the following command:
An application will start and display something like the following image:
PolySync Viewer Lite reads data from the PolySync bus and renders that in 2 dimensional space. In this instance, since there is auto-generated data on the bus, the application displays:
- A LiDAR point “cloud” as the the block in the center
- Two “identified objects,” which you might get from a sensor that does object identification, as the rectangles on the upper right side of the point cloud
- 2 circles that represent RADAR targets on the upper left side of the point cloud
PolySync Viewer Lite does not allow for much distinction in the point cloud, but updates to the object data and the radar pings are immediately obvious.
Running PolySync Studio
PolySync Studio is a Qt based application which has multiple plugins that allow for different ways to view the data on the bus. In this instance the 3D View plug-in is the best way to easily view the provided data.
Leave the PolySync Viewer Lite application running and, to run PolySync Studio, either double-click the PolySync Studio icon on your desktop or execute the following command in a new terminal.
In order to see the data that the PolySync Data Generator is creating, select the “3D View” button on the upper right corner of the window. With that item selected, PolySync Studio displays something similar to the image:
In this tutorial, the user sees how a single node can publish data on the PolySync bus and then how multiple subscribers can use it. It demonstrates that there are multiple ways to display data on the bus; really the choice of what to do with it are limited only by the users needs.
The next step is for the user to create their own data to publish to the PolySync bus!