Drive AGX Xavier : try sample_lidar_replay buy cannect fail

Please provide the following info:
Hardware Platform: [Example: DRIVE AGX Xavier™ Developer Kit]
Software Version: [Example: DRIVE Software 10]
Host Machine Version: [Example: native Ubuntu 18.04]
SDK Manager Version: [Example: 1.0.1.5538]

Hi.

I try to run sample_lidar_replay with VELO_VLP32C sensor.
I confirmed lidar’s IP (192.168.7.201) and port (2368). Also I connect ethernet cable of lidar to J14 port using dongle.

And, I try to input “./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP32C,ip=192.168.7.201,port=2368,scan-frequency=12.0”
But I got error message “DW SAL CANNOT INITIALIZE : LidarSocket :: checkDeviceData, 192.168.7.201:2368 is not connectied”

I check official document of Nvidia’s But I could not found any solution. Then I have some question!!

  1. I tried to find solution at this forum. And I found some useful command “tcpdump -i eth0”.
    But in AGX Xavier, there are no tcpdump and browser (even connecting internet is so hard because my Xavier is in vehicle). Any other some useful command to check to ip and port of Lidar? (even though I checked lidar’s ip)

  2. I can not find any solution in document. But I found this post
    Velodyne VLP-16 needing internet connection for sample_lidar_replay
    Using info of reply, I try to change the file about eth0’s in /etc/systemd/network/
    But it does not works for me either. Could you let me know some setting for using lidar at AGX Xavier?

Thanks!

Hi @pjhkb083gak9,

Is this duplicate to another topic (Integrating Velodyne LiDAR) from your colleague? We believe his problem was resolved then. You may check with him.

Below are the steps we shared to your colleagues offline for the topic. FYI.

SDK Manager sets up the required network configuration for lidar and no need to update /etc/systemd/network/99-nv-eth0-default.network file.

  1. Connect Lidar on DDPP board. Use 10GbE port 1/2 or 3/4 for Lidar sensors.
  2. Check what is the IP and port of Lidar sensors:
  3. If you want to modify IIP and port, please change them in configuration page and use the same values as parameters.
  4. ./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP32C,ip=,port=,scan-frequency=12.5,smoothing=true

Dear @VickNV

I have question about step 1.
You say that use 10GBE port. That means should I use J15 port? (I want to use Xavier A)
In this document (https://docs.nvidia.com/drive/drive_os_5.1.6.1L/nvvib_docs/index.html#page/DRIVE_OS_Linux_SDK_Development_Guide/Network%20Setup/network_topology_av.html#), I think I should J12 or J14 port…Is it wrong?

Please connect to J12/J14. BTW, have you checked this with @Minjun? Has he resolved his issue then? Thanks!

Hi !!
I talked this situation with minjun and other team member who using lidar sensor.
Then I found they changed lidar’s detination IP to 192.168.6.56 (and connected lidar’s Ip is 192.168.6.201)

This destination IP should not be changed…So I need to change Xavier A’s configuration. Could you let me know some guide?

I have two vlp32c lidars. (and detination ip of these lidars can not be changed)

  1. VLP32C (sensor ip:192.168.8.201, detination ip: 192.168.8.56)
  2. VLP32C (sensor ip:192.168.9.201, detination ip: 192.168.9.56)
    Also, I have one ethernet dongle. I think It is possible to use two lidars with one ethernet dongle.
    (I connected ethernet cable to J14)
    (I asked to minjun. But he said that drive xavier had formatted so he could not remember configurations)

Please refer to below from Setting Up the E3550 Platform, try with single lidar sensor and configure its IP as something like 192.168.1.211 (192.168.1.x).

You mean that I should change my lidar’s ip?
Is it impossible to run multiple lidar with ip which arbitrary changed?

I changed eth0 config file at /etc/system.d/network/.
There are address setting of radar and lidar interface.
I changed address of lidar interface part (eth0.400) to 192.168.8.56. Then I pluged lidar with ip : 192.168.8.201. It works good.
So I changed address of radar interface part (eth0.900) to 192.168.9.56. Then I pluged lidar with ip : 192.168.8.201. But it doesn’t works good.

Changing your lidar’s ip to the default supported network is a easy way.

Didn’t you already change the network configuration file in the first post?

For radar questions, please create a new topic (you can still link it to this topic). Thanks!

  1. Changing your lidar’s ip to the default supported network is a easy way.
    => I understand. But it is hard to change lidar’s ip to Xavier’s default ip for work of my team.

  2. Didn’t you already change the network configuration file in the first post?
    => The reason why I wrote this was to explain it again.when I change the network config file, I can run lidar sample program with single lidar which has arbitrary ip address (not default xavier’s default ip)

  3. For radar questions, please create a new topic (you can still link it to this topic).
    => I’m telling you about radar. The word ‘radar’ is appear at comment part of network config file. There are two address parts. One is commented to “#XA Radar Interface” and the other “#XA Lidar Interface”.
    I think the address part commented “#XA Radar Interface” is not only for radar sensor. It can be used for lidar just setting address to lidar’s detination ip information.

Thanks!!!

Why are you trying to use two lidar with the same IP address (192.168.8.201)? Why did you set 192.168.9.56 for 192.168.8.201? Could you share your /etc/systemd/network/99-nv_eth0_default.network and IP routing table?

Oh! I’m so sorry… I had make a silly typo…

The right information is here

  1. VLP32C (sensor ip:192.168.8.201, detination ip: 192.168.8.56)
  2. VLP32C (sensor ip:192.168.9.201, detination ip: 192.168.9.56)
    They have different sensor ip and destination ip.

Also, I add 99-nv_eth0_default.network file info
[original]================================================
[Match]
Name=eth0

[Network]
DHCP=ipv4

[DHCP]
SendHostname=false
ClientIdentifier=mac

##hyperion 7.1 adding on
[Route]
Destination=224.0.0.0/4

[Address]
#XA Radar Interface
Label=eth0.900
Address=10.1.0.81/16
[Address]
#XA Lidar Interface
Label=eth0.400
Address=192.168.1.200/24

[changed]================================================
[Match]
Name=eth0

[Network]
DHCP=ipv4

[DHCP]
SendHostname=false
ClientIdentifier=mac

##hyperion 7.1 adding on
[Route]
Destination=224.0.0.0/4

[Address]
#XA Radar Interface
Label=eth0.900
Address=192.168.9.56
[Address]
#XA Lidar Interface
Label=eth0.400
Address=192.168.8.56

And routing table
route table=======================================================
Kernel IP Routing table
Destination—Gateway----Genmask---------Flags----Metric----Ref----Use----Iface
default-------_gateway----0.0.0.0------------UG------2048-----0------0-------enp4s0
10.42.0.0-----0.0.0.0-------255.255.255.0-----U-------0---------0------0-------eth0.200
192.168.0.0—0.0.0.0-------255.255.255.0-----U-------0---------0------0-------enp4s0
192.168.5.0—0.0.0.0-------255.255.255.0-----U-------0---------0------0-------eth0
192.168.8.0—0.0.0.0-------255.255.255.0-----U-------0---------0------0-------eth0
192.168.9.0—0.0.0.0-------255.255.255.0-----U-------0---------0------0-------eth0
192.168.12.0–0.0.0.0-------255.255.255.0-----U-------0---------0------0-------hv0
224.0.0.0------0.0.0.0------240.0.0.0----------U-------0---------0------0-------eth0

Can you ping successfully both sensor ip and destination ip? What’s your ifconfig output?

In ifconfig, there are two sections about eht0.400 and eth0.900.
Also, IPs of these sections are setted to each destination IP (192.168.8.56 and 192.168.9.56)

And ping test, for first lidar, 192.168.8.56 and 192.168.8.201 are work well.
But for second lidar, 192.168.9.56 is good however 192.168.9.201 is not working.

Also, I checked ethernet dongle’s light flickering. Channel A is flickering both two led. But channel B is flickering only one led and one orange led is not (just light is still on)

Please try to narrow down with only 192.168.9.201 lidar sensor connected by connecting it to channel A and configuring its network settings accordingly.