Supported Sensors

Velodyne HDL-32E

velodyne-hdl32e
V2.0.0-b.1
Ethernet
70

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
  • Run the Dynamic Driver interface

Driver Notes

  • Velodyne provides a web interface to configure and verify the sensor is powered and working - enter the IP address of the sensor (default: 192.168.2.201)
  • If multiple Velodyne sensors are connected to the same machine, you will need to update the Telemetry Port using the web interface to be unique for each sensor

Input Message Types

Input Message Type Input Message Note
Native byte stream stored as ps_byte_stream_msg Ethernet: UDP socket\Default IP: 192.168.2.201\Default port: 2368

Output Message Types

Output Message Type Output Message Note
ps_lidar_points_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]
-t Perform a validation test on the Velodyne HDL32E 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
4500 3D transform enabled (0 means disabled) 1 0
4501 Point stitching enabled (0 means disabled) 1 1

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
4500 3D transform enabled (0 means disabled) 1 0
4501 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
42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_velodyne_hdl32e_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver

Sensor Notes

Connecting Multiple HDL-32E Sensors To configure multiple HDL-32E sensors on the same machine or network, the UDP broadcast port on each sensor will need to unique. You can fully configure the sensor using the web-interface provided by Velodyne. To connect, you will need to determine the IP address of the sensor. Next enter the IP address in the web browser (firefox, chrome) and update the UDP port. The new UDP port will need to be entered in the PolySync SDF Configurator as well. You will need to power cycle the sensor and PolySync Dynamic Driver to see changes.