ibeo LUX 4L

  • Interface Name

    ibeo-lux-4l

  • Supported Since

    V2.0.2-pr.2

  • Sensor Communication Protocol

    Ethernet, CAN

  • PolySync Sensor Type

    210

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.7//articles/add-a-sensor-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
    * [Locate the CAN hardware and circuit identifiers](https://help.polysync.io/releases/2.0.7//articles/parse-can-hardware-and-circuit-identifiers), and copy the values into the nodes IO parameters section in the SDF Configurator (optional)
    * [Run the Dynamic Driver interface](https://help.polysync.io/releases/2.0.7//articles/manually-starting-nodes/)

  • Driver Notes

    * Requires a CAN connection when motion data is to be sent to the sensor for sensor-local motion corrections
    * For object detection sensors must set contour point density to closest point only by default, set by default in driver
    * For object detection sensors must set scan frequency to 12.5 Hz, set by default in driver
    * -t perform a validation test on the Ibeo LUX 4L interface [optional]
    * -a set Ibeo LUX 4L device IP using provided address, power cycle to apply [optional]
    * This sensor does not return a Z coordinate position for objects, thus it returns [PSYNC_POSITION_NOT_AVAILABLE](http://docs.polysync.io/polysync/V2.0.4-pr.4/c/de/dd8/sensor_8idl.html#a8a62b00dda353ca7b3780b98d6aa3170) in those fields.

  • (OEM) Sensor Description

    Interface Requirements:

    * List if it’s CAN/Eth/Serial, etc.
    * Default IP Address or similar
    * If there are network restrictions (buffer sizes, MTU size, etc) list them here

  • Input Message Types

    Input Message Type Input Message Note
    Native byte stream stored as ps_byte_stream_msg Ethernet - TCP socket/Default IP: 192.168.0.X/Default port: 12002
  • Output Message Types

    Output Message Type Output Message Note
    ps_lidar_point_stream_msg Lidar points
    ps_object_stream_msg Device detected objects
    Native CAN message Used to send motion data to the sensor from the driver when enabled
  • 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 Ibeo LUX 4L interface [optional]
    -a Set Ibeo LUX 4L device IP using provided address, power cycle to apply [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
    3600 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
    3601 Provide sensor with platform motion data. 1 or 0 (true or false). 1 1
    3602 Provide scan point data. 1 or 0 (true or false). 1 1
    3604 Set device can frequency [Hz]. Options: 12.5, 25.0, 50.0 1 1
  • IO Configuration Parameters

    Parameter ID Description Value Type Values Notes
    501 Socket 0 Address 4 NULL
    500 Socket 0 Port Number 1 12002
    400 CAN Channel 0 Hardware Identifier 1 0
    401 CAN Channel 0 Circuit Identifier 1 0
  • 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_ibeo_lux_4l_interface.so
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver