Supported Sensors

Quanergy M8

quanergy-m8
2.0.9
Ethernet
400

PolySync Configuration

  • Define the node in the SDF Configurator
  • Configure the host system network configuration, such that you can ping the sensor
  • Update the IP address field for the Quanergy node in the SDF Configurator
  • Run the Dynamic Driver interface

Driver Notes

Coming Soon: Support for the new Quanergy M8 Rev. C, with support for Quanergy API V5. It is common to take up to 60 seconds for the sensor to connect, and validate the sensor connection before publishing LiDAR data to the bus.

Input Message Types

Input Message Type Input Message Note
ps_byte_array_msg Does not publish to the bus by default

Output Message Types

Output Message Type Output Message Note
ps_lidar_points_msg Published to the 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
1002 Sensor 0 X Position 3 0.0
1003 Sensor 0 Y Position 3 0.0
1004 Sensor 0 Z Position 3 0.0
1005 Sensor 0 Roll Orientation 3 0.0
1006 Sensor 0 Pitch Orientation 3 0.0
1007 Sensor 0 Yaw Orientation 3 0.0
5900 3D transform enabled (0 means disabled) 1 1
5901 Point stitching enabled (0 means disabled) 1 1

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0.0
1003 Sensor 0 Y Position 3 0.0
1004 Sensor 0 Z Position 3 0.0
1005 Sensor 0 Roll Orientation 3 0.0
1006 Sensor 0 Pitch Orientation 3 0.0
1007 Sensor 0 Yaw Orientation 3 0.0
5900 3D transform enabled (0 means disabled) 1 1
5901 Point stitching enabled (0 means disabled) 1 1

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4
2002 Publishes message type “ps_byte_array_msg” (value 0 means disabled) 1 0
2040 Publishes message type “ps_lidar_points_msg” (value 0 means disabled) 1 1