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The PolySync Team

Velodyne HDL-32E

General

Interface name
  • velodyne-hdl32e
Interface file
  • libps_velodyne_hdl32e_interface.so
Supported Since
  • V2.0.0-b.1
OEM Hardware/Software/Firmware Version  
Sensor Communication Protocol  
PolySync Sensor Type
  • 70
Driver Notes
  • Velodyne provides a web interface to configure and verify the sensor is powered and working -- enter the IP address of the sensor (default: 192.168.2.201)
  • If multiple Velodyne sensors are connected to the same machine, you will need to update the Telemetry Port using the web interface to be unique for each sensor

(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

  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 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

Other resources

Have more questions? Submit a request

2 Comments

  • 0
    Avatar
    Icolwell

    Should the message type be "ps_lidar_points_msg" rather than "ps_lidar_point_msg" ?

  • 0
    Avatar
    Lucas Buckland

    Good catch, thanks!

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