General
| Interface name |
|
|---|---|
| Interface file |
|
| Supported Since |
|
| OEM Hardware/Software/Firmware Version | |
| Sensor Communication Protocol | |
| PolySync Sensor Type |
|
| Driver Notes |
|
(OEM) Sensor Description
The HDL-32E LiDAR sensor is small, lightweight, ruggedly built and features up to 32 lasers across a 40° vertical field of view. The HDL-32E measures only 5.7" high x 3.4" in diameter, weighs less than two kilograms and was designed to exceed the demands of the most challenging real-world autonomous navigation, 3D mobile mapping and other LiDAR applications.
PolySync Configuration
- Locate the sensor's IP address and port number
- Copy these numbers into SDF configuration
- Run driver
For more information check out the parsing sensor identifiers article.
Connecting Multiple HDL-32E Sensors
To configure multiple HDL-32E sensors on the same machine or network, the UDP broadcast port on each sensor will need to unique.
You can fully configure the sensor using the web-interface provided by Velodyne. To connect, you will need to determine the IP address of the sensor. Next enter the IP address in the web browser (firefox, chrome) and update the UDP port.
The new UDP port will need to be entered in the PolySync SDF Configurator as well. You will need to power cycle the sensor and PolySync Dynamic Driver to see changes.
Input Message Types
|
Input Msg Type
|
Notes
|
|---|---|
| Native byte stream stored as ps_byte_stream_msg |
Ethernet: UDP socket Default IP: 192.168.2.201 Default port: 2368 |
Output Message Types
|
Output Msg Type
|
Notes
|
|---|---|
| ps_lidar_points_msg | Lidar points |
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 Velodyne HDL32E 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 |
| 501 | Socket 0 Address | |
| 500 | Socket 0 Port Number | |
| 4500 | 3D transform enabled | Default: false |
| 4501 | Point stitching enabled | Default: true |
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