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

Leddar M-16

General

Interface name
  • leddar-m16
Interface file
  • libps_leddar_m16_interface.so
Supported Since
  • V2.0.0-b.2
OEM Hardware/Software/Firmware Version  
Sensor Communication Protocol  
PolySync Sensor Type
  • 190
Driver Notes
  • Before it can be used with PolySync, several parameters must be set in the device's firmware using the manufacturer's software, "Leddar Configuration" (Windows only (sad))
    • CAN data configuration must be set to extended frame format
    • Baud Rate must be set to 500kbps
    • Default Tx ID is 1872
    • Default Rx ID is 1856
  • Support for user defined Rx and Tx ID will be in a future release (allowing multiple M16's on one CAN bus).

(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

Input Message Types

Input Msg Type
Notes
Native CAN message stored as ps_can_data_msg Default bit rate: 500K

Output Message Types

Output Msg Type
Notes
ps_lidar_point_msg Lidar points

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. -c use provided CAN channel system index instead of what is stored in the SDF [optional]
  9. -t perform a validation test on the Leddar M16 interface [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
1001 Sensor 0 Identifier  
400 CAN Channel 0 Hardware Identifier  
401 CAN Channel 0 Circuit Identifier  
3100 CAN arbitration Rx ID. 0 indicates standard frames, 1 indicates extended frames.  
3200 CAN Channel Data Rate. Valid entries: 100, 125, 250, 500, 1000  
3300 CAN Channel Flags (0:std, 1:ext)  

Other resources

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