Integrating Velodyne LiDAR

Hello, this is Minjun work on Hyundai motor company.

I want to integrate Velodyne Lidar Puck(VLP-16) or Ultra Puck(VLP-32C) with Driveworks AGX Xavier.

So, I want to know how can I use Lidar on Driveworks AGX Xavier.

I already use these Lidar on windows OS and these are good operating.

My Xavier’s operating system is driveworks-2.2.

First, i explain my Lidar network setting.

I set up Host IP Address : 192.168.8.56, Data Port : 2368 and Telemetry Port : 8308.

And sensor’s Network Adress : 192.168.8.201, Mask : 255.255.255.0 and Gateway : 192.168.8.1.

Second, I explain my Driveworks AGX Xavier setting.

I edited a file(/etc/systemd/network/99-nv-eth0-default.network).

[Address]
#XA Lidar Interface
Label=eth0:400
Address=192.168.8.56/24

Third, I did ping test for Ip Address 192.168.8.56 and ascertain operating normally.

Lastly, I operate sample code(/usr/local/driveworks/bin/sample_lidar_relay)

When I typed this command “sudo ./sample_lidar_replay --protocol=lidar.socket --params =ip=192.168.8.56,port=2368,scan-frequency=10,device=VELO_VLP32C”,
this message is poped up “Driveworks exception thrown : DW SAL CANNOT INITIALIZE : LidarSocket :: checkDeviceData, 192.168.8.56:2368 has no data.”

When I typed this command “sudo ./sample_lidar_replay --protocol=lidar.socket --params =ip=192.168.8.56,port=8308,scan-frequency=10,device=VELO_VLP32C”,
this message is poped up “Driveworks exception thrown : DW SAL CANNOT INITIALIZE : LidarSocket :: checkDeviceData, 192.168.8.56:8308 has no data.”

When I typed this command “sudo ./sample_lidar_replay --protocol=lidar.socket --params =ip=192.168.8.56,port=1111,scan-frequency=10,device=VELO_VLP32C”,
this message is poped up “Driveworks exception thrown : DW SAL CANNOT INITIALIZE : LidarSocket :: checkDeviceData, 192.168.8.56:1111 is not connectied.”

I think I do well setted up network configuration, because ping test is good and 192.168.8.56:2368 is connectied but has no data.

I want to know how can i use Lidar.

Dear Minjun,
Could you open LIDAR configuration at http::192.168.8.56 and verify port number details. If it is same, could you please attach configuration page so that I can check internally and get back to you.