Connecting Sensor to 100BaseT Matenet port, and setting the port IP address

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Hello,

I have a sensor installed with the 100BaseT connection connected to the MATENET port 1.

I realise it is written somewhere in the documentation, but Im not finding where.

For my current understanding of the issue, the connector is connected to switch P3710 which is then instantiated with the networkd, file 99-nv_mgbe_default.network that creates all the network interfaces for the MGBE switch connections. And the .200 VLAN is for the internals of the DRIVE.

As my sensor requires an specific IP address to the host port, i would need to set it to be able to receive data.

Normally on Linux i would find the network adapter and simply change its IP Address to the required one.

But due to how the switches, Im unsure on how do i instantiate a specific port on the switch to have an static ip address. It feels, from what i read, as if i would set the IP address for the entire switch.

Also something that is getting me confused is that in the SDK doc it says to use netplan as the network manager to set static IPs, but we are using networkd, so which should i use? should i install netplan entirely and drop networkd?

Can you help me with that, or just point where should I read about the network DRIVEs naming conventions of the MATENET plug ?

Thanks for the help,
Yuri

3

Dear @yuri.poledna,
Which sensor did you connect to matenet P1 port?
Are you asking details on which network interface to set static IP when matenet P1 is connected?

5

Which sensor did you connect to matenet P1 port?

a radar

Are you asking details on which network interface to set static IP when matenet P1 is connected?

in summary yes, and if its on networkd or netplan that i should set it. Specifically i would like to know the name of the interface. So that i can properly program it to have the IP address my radar requires to send data to the DRIVE :)

Best
Yuri

6

Dear @yuri.poledna,
May I know the radar details? Please check setting the network interface and route table from DriveWorks SDK Reference: Radar Replay Sample helps?

7

Hi
thanks for the link,
I hadnt realised so far theres the driveOS doc and the driveworks doc ill have a read there too.

My radar isnt listed there, though he isn’t sending data to the Multicast address.
He is literally just sending data to an IP address, 192.168. that physically is connected to the drive.

the software implementation that captures the data is done, i dont need driveworks though it would be a nice addition.

from the website youve sent me

  • The radar must be up and running, and connected to the network.

The network here mentioned is the Ethernet network, or the Matenet network inside the drive? is this metioning that they need to enter through the ethernet cable and not the direct matenet connector?

For me it looks like the closest would be either the
ARS620 OMS radar:
or
Hella 6G0 OMS radar:
configuration.

I really just need to put an ip address to the matenet port :)

Ill try to use these commands that are listed on the website, but you dont need to register that the port X is ip X?

In the website its saying about VLAN tags 1022 and 1027, is there an association between the VLAN tags and ports on the MATENET connector?

Thank you,
Yuri

8

Dear @yuri.poledna,
May I know your radar details(like IP) and use case? Do you have SW stack to test radar data if DW is not planned to use?

9

The RADAR Host (drive) IP address should be 192.168.0.30, the RADAR itself is on 192.168.0.60, but i can change that I can make it send to another address. But id prefer to keep it with this IP address if possible.
Use case is in the front of the vehicle. Detection of 4D pointclouds.
I plan to use ROS1 to capture its data currently, as i already have the functional rosnodes and my perception stack is in ROS(already installed).
I do like Driveworks capabilities and I may make it a custom sensor, but for now my easiest option would be to simply make the IP address from the port to be the aforementioned value.
Thanks,
Yuri

10

@SivaRamaKrishnaNV Thanks for the Help,
Ive finally understood what you mean :)
i was struggling because i didnt understand that the VLAN 900 in MGBE2 was the answer.
So i tried that and it worked.
For Future reference:
all i needed was to set sudo ifconfig mgbe2_0:900 192.168.100.30 || true
I will start on putting this radar on driveworks as well now.
Thanks for the Patience
Yuri

11

Thank you for your sharing

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