Supported Sensors

ibeo LUX 4L

ibeo-lux-4l
V2.0.2-pr.2
Ethernet, CAN
210

PolySync Configuration

  • Define the node in the SDF Configurator
  • Determine the IP address of the sensor, and copy the values into the nodes IO parameters section in the SDF Configurator
  • Locate the CAN hardware and circuit identifiers, and copy the values into the nodes IO parameters section in the SDF Configurator (optional)
  • Run the Dynamic Driver interface

Driver Notes

  • Requires a CAN connection when motion data is to be sent to the sensor for sensor-local motion corrections
  • For object detection sensors must set contour point density to closest point only by default, set by default in driver
  • For object detection sensors must set scan frequency to 12.5 Hz, set by default in driver
  • -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]
  • This sensor does not return a Z coordinate position for objects, thus it returns PSYNC_POSITION_NOT_AVAILABLE in those fields.

Input Message Types

Input Message Type Input Message Note
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 Message Type Output Message Note
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

Flag Description
-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]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
3600 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
3601 Provide sensor with platform motion data. 1 or 0 (true or false). 1 1
3602 Provide scan point data. 1 or 0 (true or false). 1 1
3604 Set device can frequency [Hz]. Options: 12.5, 25.0, 50.0 1 1

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
3600 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
3601 Provide sensor with platform motion data. 1 or 0 (true or false). 1 1
3602 Provide scan point data. 1 or 0 (true or false). 1 1
3604 Set device can frequency [Hz]. Options: 12.5, 25.0, 50.0 1 1

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4
42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_ibeo_lux_4l_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver