Supported Sensors

Ibeo ScaLa

ibeo-scala
V2.0.4-pr.4
Ethernet, CAN
220

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

  • -h
    • show this help message [optional]
  • -o
    • reserved [optional]
  • -w
    • disable the hardware interface(s), allowing the node to run without hardware connected (also known as replay mode) [optional]
  • -r
    • SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
  • -n
    • SDF node configuration identifier 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]
  • -u
    • allow updates to the SDF configuration during the normal runtime if needed (does not exit) [optional]
  • -p
    • use provided logfile in Record and Replay operations instead of the default [optional]
  • -s
    • use provided SDF instead of the default [optional]
  • -U
    • update the node SDF configuration and exit [optional]
  • -t
    • perform a validation test on the Ibeo ScaLa interface [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
4300 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
4301 Use device internal mounting position (set with ScalaCom Windows tool) for object tracking. 1 or 0 (true or false). 1 0
4302 Stitch scan data layers. 1 or 0 (true or false). 1 0

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
4300 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
4301 Use device internal mounting position (set with ScalaCom Windows tool) for object tracking. 1 or 0 (true or false). 1 0
4302 Stitch scan data layers. 1 or 0 (true or false). 1 0

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