Supported Sensors

Leddar Vu8

leddar-vu8
V2.3.0
CAN
191

Supported hardware versions

Manufacturer LeddarTech

LeddarTech’s Vu8 sensor module is a compact and modular sensing solution that combines 8 independent active elements into a single sensor, resulting in rapid, continuous and accurate detection and ranging―including lateral discrimination―in the entire wide beam, without any moving parts.

Hardware requirements

LeddarTech provides the appropriate power supply for the Vu8 that can be connected to the 12V accessory vehicle power.

  • Leddar Vu8 CAN Carrier Board
  • 12V power supply
  • CAN interface on the ECU, compatible with linuxcan or socketcan hardware drivers
  • ECU with PolySync Core installed

The Leddar Vu8 CAN Carrier Board

Required Pre-configurations

The PolySync Core interface for the Leddar Vu8 makes some assumtions by default. The following settings must be accurate in the SDF Configurator before using the Leddar Vu8 device. If the device is using the default configuration, no extra steps are needed but if the LeddarTech configuration tool is used to modify them, the device’s SDF Configurator entry must be updated.

  • Measurement Unit
  • CAN data rate
  • CAN frame format
  • CAN Tx ID
  • CAN Rx ID
  • Number of measurement segments
  • Vertical FOV
  • Horizontal FOV

Configuring the ECU

The ECUs CAN network needs to be configured to use one of the two compatible CAN interfaces: Kvaser’s linuxcan or socketcan.

Setup the CAN interfaces on the ECU to enable the driver to communicate with the sensor.

CAN Hardware and Circuit Identifiers

Each CAN interface on the ECU has a unique identifier that enables software applications like the PolySync Core dynamic driver to identify and connect to the appropriate CAN channel.

Locate the CAN hardware and circuit identifiers based on the CAN drivers installed on your system.

Enter the CAN Channel 0 Hardware Identifier and CAN Channel 0 Circuit Identifier in the Configurator.

CAN channels

Adding the sensor to the SDF

Using the Configurator tool, add a sensor node to the SDF.

The ‘Node Interface’ name is leddar-vu8.

Validating the sensor is properly configured

If you’re approaching a new PolySync Core system or need to validate an existing configuration you can use the following checklist to ensure the sensor is properly configured.

Setup checklist

If the sensor passes these checks then the PolySync Core dynamic driver will be able to communicate with the sensor.

  • The sensor connected to a power supply
  • The wiring matches the Carrier Board documentation
  • The CAN bus is connected and terminated with a 120 Ohm resistor
  • The correct CAN baud/data rate is configured and specified in the SDF and
  • The correct CAN frame format configured and specified in the SDF and

Starting the PolySync Core driver

The configuration set in the Configurator is loaded from the SDF when the dynamic driver starts. It connects to the sensor over the CAN interface, requests the data, and waits for confirmation that the sensor configuration is valid.

When the dynamic driver receives the first full frame of data it begins processing the data. For visualization in Studio the PolySync Core Leddar Vu8 interface publishes an abstracted ps_zones_msg by default for each measurement segment. For information more specific to the device the PolySync Core Leddar Vu8 interface also publishes detection description messages and detection messages by default, leddar_vu8_detection_description_msg and leddar_vu8_detection_msg respectively. The structure of the messages specific to the Leddar Vu8 device follows. Which messages are published is toggleable in the SDF.

  1. Power the sensor and ECU on
  2. Optionally follow the setup checklist
  3. Start the PolySync Core manager
    • $ sudo service polysync-core-manager start
  4. Start the dynamic driver process

Starting the node manually on the command line

To start a dynamic driver node on the command line, the node must first be defined in the SDF using the Configurator application.

Each node defined in the Configurator has a unique node ID which points to the node’s configuration. This article explains how to find the node ID.

Command line flags and usage

Once the node ID is known (substitute for X), the dynamic driver node for the supported sensor can be started with the base command:

$ polysync-core-dynamic-driver -n X

Each sensor supports an array of command line arguments. To see a full list of command line arguments, pass the -h help flag:

$ polysync-core-dynamic-driver -n X -h  |  less

There’s a lot of output so we recommend you pipe the output to less, but it’s not required.

Flag Required Description Arguments
-c <N> No Use provided CAN channel system index instead of what is stored in the SDF
-e No Export a JSON support string describing the interface, used by the SDF configuration tool
-h No Show this help message
-i No Use provided PAL interface file instead of what is stored in the SDF
-n <N> Yes SDF node configuration key for the node [required]
-o No Reserved
-r No Reserved
-d No Enable additional debugging output
-t No Perform a validation test on the LEddar Vu8 interface
-p No Use provided logfile in Record and Replay operations instead of the default
-O No Check the node SDF configuration for required updates and exit option (returns exit status zero if no change required)
-U No Update the node SDF configuration and exit
-u No Allow updates to the SDF configuration during the normal runtime if needed (does not exit)
-w No Disable the hardware interface(s), allowing the node to run without hardware connected

Accessing sensor data

When the dynamic driver node is operating in an OK state then data is being published to the global PolySync Core bus, and any node can subscribe to the high-level message type(s) output by the dynamic driver node.

There are several tools that PolySync Core provides to quickly validate that data exists on the bus.

Access sensor data with PolySync Core nodes that subscribe to the sensor’s output message types.

Input / output message types

Message API Docs Notes
Publishes ps_zones_msg Sensor Data Model Publishing is enabled by default
Publishes leddar_vu8_detection_description_msg Leddar Vu8 Data Model Publishing is enabled by default
Publishes leddar_vu8_detection_msg Leddar Vu8 Data Model Publishing is enabled by default
Publishes ps_can_frame_msg Core Data Model Publishing is disabled by default, the message buffer contains the raw data received from the sensor over the CAN bus

Filtering incoming data for this sensor

An application that subscribes to a given message type is able to see data from more than one sensor or source.

Applications can filter for specific sensors and data sources in the message callback in C applications, or the messageEvent in C++ applications.

Filter incoming messages for this sensor with ps_sensor_kind value 191.

You can find all sensor descriptor values in this article.

Resources

Ordering a Leddar Vu8 CAN Carrier Board