Velodyne VLP-16 (Puck)

  • Interface Name

    velodyne-vlp16

  • Supported Since

    V2.0.0-b.2

  • Sensor Communication Protocol

    Ethernet

  • PolySync Sensor Type

    75

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

  • 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_point_msg Lidar point cloud
  • 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 VLP16 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
    501 Socket 0 Address 4 192.168.2.202
    500 Socket 0 Port Number 2368
  • 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_vlp16_interface.so
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver
  • Sensor Notes

    **Connecting Multiple VLP-16 Sensors**

    To configure multiple VLP-16 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.