How to check whether the lidar work normally?

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 6.0.5
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-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
[*] other

SDK Manager Version
1.9.1.10844
[*] 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

Hi sir
About the lidar, I have two questions:
1. whether the drive Orin support 1588v2 to do the time sync with the lidar? If yes, how to enable it?
2. How to check whether the lidar work normally?
Thanks!

3

Dear @sunjiandong,
Could you check if the lidar is in the list at https://developer.nvidia.com/drive/ecosystem-orin#lidars?
If so, please check DriveWorks SDK Reference: Time Sensor Sample helps your ask

4

@SivaRamaKrishnaNV
If we use Hesai P128 which in the support list, How to do time sync with the 1588v2,and how to check the pointcloud? can you give me an example?
Thanks!

5

Dear @sunjiandong,
Let me check internally on this and update you.

6

@SivaRamaKrishnaNV
Is there any update?
Thanks!

7

Dear @sunjiandong,
I am yet to get information on time sync with the 1588v2.
Please confirm if the used platform is DRIVE AGX Xavier or DRIVE AGX Orin?
How to check whether the lidar work normally? how to check the pointcloud? can you give me an example?

For supported sensors, we have sample_record, lidar replay point cloud samples in DW already. Did you check them?

8

Dear @SivaRamaKrishnaNV
The platform is DRIVE AGX Orin.
And whether have a tool to see the point cloud in real time?
Can you give me a sample_record example for Lidar?

9

Please use the following command to try the sample_lidar_replay sample application:

sample_lidar_replay --protocol=lidar.socket --params=device=“HESAI_P_128_V4P5,ip=10.221.4.201,dip=10.221.4.52,port=7501,scan-frequency=10,hres=0.1,return-mode=5,hfov-start=0,hfov-end=360,disable-kernel-timestamping=true,blockage-detection=true,force-set=true”

You can find more information about the sample in the following document:

DriveWorks SDK Reference: Lidar Replay Sample

10

Dear @SivaRamaKrishnaNV
what’s the information about time sync with 1588v2
Thanks！

11

Hi sir
I can’t find sample_lidar_replay in the path /user/local/driveworks/bin/

12

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3cxn42g90nk2kvrvplmhc31j_01920×1440 253 KB

13

Please follow the instructions provided in DriveWorks SDK Reference: Getting Started Using the NVIDIA SDK Manager to cross-compile the sample from its source code on your host system.

14

Dear @SivaRamaKrishnaNV
what’s the information about time sync with 1588v2

15

Hi sir
Is there any update?

16

Dear @sunjiandong ,
If you are referring to the PTP sync protocol 1588v2, hesai specs don’t explicitly mention about the ptp version.
You would probably need to check with hesai on this.

17

Hi sir
Hesai can support 1588v2, I want to know how to start the ptp4l in the drive ORIN? I don’t find this command in the Orin?
Thanks!

18

Dear @sunjiandong,

I don’t find this command in the Orin

You can find it drive-linux/samples/nvavb/daemons/ptp4l on host.

19

@SivaRamaKrishnaNV
I do the time sync over the eqos_0 with the command “sudo ptp4l -i eqos_0 -S -m”, it will report sync failed. Please see the log:
nvidia@tegra-ubuntu:/etc$ sudo ptp4l -i eqos_0 -S -m
[sudo] password for nvidia:
ptp4l[56267.975]: port 1: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[56267.975]: port 0: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[56275.572]: port 1: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[56275.572]: selected local clock 48b02d.fffe.a471fe as best master
ptp4l[56275.572]: port 1: assuming the grand master role
ptp4l[56276.573]: timed out while polling for tx timestamp
ptp4l[56276.573]: increasing tx_timestamp_timeout may correct this issue, but it is likely caused by a driver bug
ptp4l[56276.573]: port 1: send sync failed
ptp4l[56276.573]: port 1: MASTER to FAULTY on FAULT_DETECTED (FT_UNSPECIFIED)
ptp4l[56292.574]: port 1: FAULTY to LISTENING on INIT_COMPLETE
ptp4l[56300.181]: port 1: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[56300.181]: selected local clock 48b02d.fffe.a471fe as best master
ptp4l[56300.181]: port 1: assuming the grand master role
ptp4l[56301.182]: timed out while polling for tx timestamp
ptp4l[56301.182]: increasing tx_timestamp_timeout may correct this issue, but it is likely caused by a driver bug
ptp4l[56301.182]: port 1: send sync failed
ptp4l[56301.182]: port 1: MASTER to FAULTY on FAULT_DETECTED (FT_UNSPECIFIED)
ptp4l[56317.183]: port 1: FAULTY to LISTENING on INIT_COMPLETE
ptp4l[56325.107]: port 1: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[56325.108]: selected local clock 48b02d.fffe.a471fe as best master
ptp4l[56325.108]: port 1: assuming the grand master role
ptp4l[56326.109]: timed out while polling for tx timestamp
ptp4l[56326.109]: increasing tx_timestamp_timeout may correct this issue, but it is likely caused by a driver bug
Thanks!

20

Hi sir
Any updated?

21

Dear @sunjiandong,
Could you please a separate topic for this issue with ptp4l?