Phidget Spatial

  • Interface Name

    phidget-spatial

  • Supported Since

    V2.0.8-PR8

  • Sensor Communication Protocol

    USB

  • PolySync Sensor Type

    360

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.8//articles/add-a-sensor-node/) in the SDF Configurator
    * Set the `Serial Device 0 Name` in the IO Configuration section, based on where the device is enumerated by the system, i.e. `/dev/ttyUSB0`

  • Command Line Arguments

    Flag Description
    -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]
    -O check the node SDF configuration for required updates and exit option (returns exit status zero if no change required) [optional]
    -d enable additional debugging output [optional]
    -t perform a validation test on the interface [optional]
  • Sensor Configuration Parameters

    Parameter ID Description Value Type Values Notes
    1001 Sensor 0 Identifier 1 1
    5400 Update rate. Supported update rates are: 1, 2, 4, 8, and every multiple of 8 in the range of 1ms to 1000ms. [milliseconds] 1 56
  • IO Configuration Parameters

    Parameter ID Description Value Type Values Notes
    600 Serial Device 0 Name 4 /dev/ttyUSB0
  • Node Configuration Parameters

    Parameter ID Description Value Type Values Notes
    800 Active Coordinate Frame Identifier 1 4
    2034 Publishes message type "ps_imu_msg" (value 0 means disabled) 1 1