Supported Sensors

Phidget Spatial

phidget-spatial
V2.0.8-PR8
USB
360

PolySync Configuration

  • Define the node in the SDF Configurator
  • Set the Serial Device 0 Name in the IO Configuration section, based on where the device is enumerated by the system, i.e. /dev/ttyUSB0

Output Message Types

Output Message Type Output Message Note
ps_imu_msg Published to the PolySync bus by default.

Command Line Arguments

Flag Description
-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]
-O check the node SDF configuration for required updates and exit option (returns exit status zero if no change required) [optional]
-d enable additional debugging output [optional]
-t perform a validation test on the interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
5400 Update rate. Supported update rates are: 1, 2, 4, 8, and every multiple of 8 in the range of 1ms to 1000ms. [milliseconds] 1 56

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
5400 Update rate. Supported update rates are: 1, 2, 4, 8, and every multiple of 8 in the range of 1ms to 1000ms. [milliseconds] 1 56

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4
2034 Publishes message type “ps_imu_msg” (value 0 means disabled) 1 1