Supported Sensors

ibeo Lux Fusion

ibeo-fusion-ecu
V2.0.0-b.1
Ethernet, CAN
160

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 (required)
  • Run the Dynamic Driver interface

Driver Notes

  • A physical CAN interface is required to send motion data from PolySync to the Fusion ECU
  • Each Lux sensor needs to be manually configured with mount position and scanning frequency, see the Ibeo ILV User Manual
  • Ibeo Fusion ECU CANConfig.xml configuration file must be updated to properly receive CAN data from PolySync node
  • The Ibeo Fusion ECU provides a web interface to configure the system and view error/debug messages - you can access the web interface by entering the IP address of the ECU (default: 10.152.36.100)

Input Message Types

Input Message Type Input Message Note
Native byte stream stored as ps_byte_stream_msg Ethernet - TCP socket/Default IP: 10.152.36.100/Default port: 12002
Subscribes to ‘ps_platform_motion_msg’ when configured to provide sensor with platform motion data When enabled: provides sensor with valid vehicle speed, provides sensor with valid vehicle yaw-rate, provides sensor with SDF mount yaw angle, provides sensor with SDF mount Y offset (lateral offset)

Output Message Types

Output Message Type Output Message Note
ps_lidar_point_msg Lidar points from all Lux devices configured on the ECU
ps_object_msg Device detected objects from all Lux devices configured on the ECU

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 Fusion ECU interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
N/A N/A N/A N/A N/A

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
N/A N/A N/A N/A N/A

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_fusion_ecu_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver