Supported Sensors

Leddar-M16

leddar-m16
V2.0.0-b.2
CAN
190

PolySync Configuration

Driver Notes

  • Before it can be used with PolySync, several parameters must be set in the device’s firmware using the manufacturer’s software, Leddar Configuration (Windows only)
    • CAN data configuration must be set to extended frame format
    • Baud Rate must be set to 500kbps
    • Default Tx ID is 1872
    • Default Rx ID is 1856
  • Support for user defined Rx and Tx ID will be in a future release (allowing multiple M16’s on one CAN bus).

Input Message Types

Input Message Type Input Message Note
Native CAN message stored as ps_can_data_msg Default bit rate: 500K

Output Message Types

Output Message Type Output Message Note
ps_lidar_point_msg Lidar points

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]
-c Use provided CAN channel system index instead of what is stored in the SDF [optional]
-t Perform a validation test on the Leddar M16 interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1872
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
3100 CAN arbitration Rx ID. CAN bus ID of the Ledder M16 device. 1 1856
3200 CAN Channel Data Rate. Valid entries: 100, 125, 250,500,1000 1 500
3300 CAN Channel Flags (0:std, 1:ext) 1 1

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1872
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
3100 CAN arbitration Rx ID. CAN bus ID of the Ledder M16 device. 1 1856
3200 CAN Channel Data Rate. Valid entries: 100, 125, 250,500,1000 1 500
3300 CAN Channel Flags (0:std, 1:ext) 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_ledder_m16_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver