Ibeo ScaLa

  • Interface Name

    ibeo-scala

  • Supported Since

    V2.0.4-pr.4

  • Sensor Communication Protocol

    Ethernet, CAN

  • PolySync Sensor Type

    220

  • 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 (required)
    * [Run the Dynamic Driver interface](https://help.polysync.io/releases/2.0.7//articles/manually-starting-nodes/)

  • Driver Notes

    * -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]
    * -t
    * perform a validation test on the Ibeo ScaLa 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
    4300 Provide sensor with platform motion data. 1 or 0 (true or false). 1 0
    4301 Use device internal mounting position (set with ScalaCom Windows tool) for object tracking. 1 or 0 (true or false). 1 0
    4302 Stitch scan data layers. 1 or 0 (true or false). 1 0
  • 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_scala_interface.so
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver