Lidar Connection to Nvidia Drive AGX

[hitesh.pandya1]

Please provide the following info (check/uncheck the boxes after clicking “+ Create Topic”):
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.6.0.8170
1.5.1.7815
1.5.0.7774
other

Host Machine Version
native Ubuntu 18.04
other

We have connected the Velodyne Puck Hi-Res LIDAR to the Nvidia Drive AGX through the provided ethernet dongle, to J12 (1/2) (shown in pic).

However, the Lidar is not getting connected to the Drive AGX. The lights wrt the Lidar, on the dongle, are both red and blinking (shown in pic).

We need help with the configuration and setup.
Following is the content of /etc/systemd/network/99-nv_eth0_default.network:

[Match]
Name=eth0

##Network settings
[Network]
DHCP=no

##eth0 100Mbps interface
Address=10.99.230.6/24
Gateway=10.99.230.1
DNS=10.8.64.11
DNS=10.8.64.12

[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
Gateway=192.168.1.1
DNS=192.168.1.1

Following is the output of ifconfig:

can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 108

can1: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 97 bytes 776 (776.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 109

enp4s0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
inet 192.168.0.10 netmask 255.255.255.0 broadcast 192.168.0.255
ether 00:04:4b:f6:53:aa txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 10.99.230.6 netmask 255.255.255.0 broadcast 10.99.230.255
inet6 fe80::204:4bff:fef6:53a7 prefixlen 64 scopeid 0x20
ether 00:04:4b:f6:53:a7 txqueuelen 1000 (Ethernet)
RX packets 561 bytes 50640 (50.6 KB)
RX errors 0 dropped 279 overruns 0 frame 0
TX packets 1132 bytes 162799 (162.7 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 84

eth0:400: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.1.200 netmask 255.255.255.0 broadcast 192.168.1.255
ether 00:04:4b:f6:53:a7 txqueuelen 1000 (Ethernet)
device interrupt 84

eth0:900: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 10.1.0.81 netmask 255.255.0.0 broadcast 10.1.255.255
ether 00:04:4b:f6:53:a7 txqueuelen 1000 (Ethernet)
device interrupt 84

eth0.200: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 10.42.0.28 netmask 255.255.255.0 broadcast 10.42.0.255
inet6 fe80::204:4bff:fef6:53a7 prefixlen 64 scopeid 0x20
ether 00:04:4b:f6:53:a7 txqueuelen 1000 (Ethernet)
RX packets 251 bytes 24000 (24.0 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 230 bytes 55190 (55.1 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

hv0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.12.4 netmask 255.255.255.0 broadcast 192.168.12.255
inet6 fe80::886:4cff:fef8:e900 prefixlen 64 scopeid 0x20
ether 0a:86:4c:f8:e9:00 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 58 bytes 7025 (7.0 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 20

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
Could you confirm if you are able to open the lidar configuration page via URL with Lidar IP? Did you make any changes in network configuration files? Did you check running DW Lidar sample? If so, could you share the output log?

[hitesh.pandya1]

LiDAR is not getting connected. The lights on the dongle are both red and blinking. Not able to connect to LiDAR. Have also tried connecting to 3/4 HSD connector but the result is the same. The network configuration file is as attached. The changes have been done for eth0. Tried changing eth0:400 to eth0:200 but the effect is the same.
Can you also please provide the mapping of 1/2 HSD, 3/4 HSD etc. mapping with wth eth0:XXX for the network configuration?

[hitesh.pandya1]

Please note that the LiDAR configuration shown in the image above is when the LiDAR is connected to the host machine. When we connect the LiDAR to the Drive AGX, the both dongle LEDs are blinking and not able to access LiDAR

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
Could you check the discussion on Drive AGX Xavier : try sample_lidar_replay buy cannect fail if it helps?

[hitesh.pandya1]

Thanks for the input. Have already tried the link. Also, tried changing ifconfig into 2 sections as mentioned but doesn’t help. Can you please check the details that I have shared and see if something is missing.

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
Could you change the Lidar IP to 192.168.1.211 via lidar configuration page on host and check connecting on target again?

[hitesh.pandya1]

Thanks for the input. Does not make any difference. Both the lights on the dongle are flickering red/orange. Changing Channel A to Channel B and vice-versa has no impact. Internet connectivity on both channels.

[hitesh.pandya1]

Just to clarify. On the host machine the lidar works with Veloview application but does not work with driveworks sample. The error is “device type does not match product ID 0x22”

./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP16HR,ip=192.168.1.201,port=2368,scan-frequency=25
Starting my sample application…
[25-08-2021 14:27:00] Platform: Detected Generic x86 Platform
[25-08-2021 14:27:00] TimeSource: monotonic epoch time offset is 1629867693379595
[25-08-2021 14:27:00] Platform: number of GPU devices detected 1
[25-08-2021 14:27:00] Platform: currently selected GPU device discrete ID 0
[25-08-2021 14:27:00] SDK: Resources mounted from /usr/local/driveworks/data/
[25-08-2021 14:27:00] TimeSource: monotonic epoch time offset is 1629867693379595
[25-08-2021 14:27:00] Initialize DriveWorks SDK v2.2.3136
[25-08-2021 14:27:00] Release build with GNU 7.4.0 from heads/buildbrain-branch-0-gca7b4b26e65
[25-08-2021 14:27:00] SensorFactory::createSensor() → lidar.socket, device=VELO_VLP16HR,ip=192.168.1.201,port=2368,scan-frequency=25
[25-08-2021 14:27:00] Destination IP address and Horizontal Resolution is used only by OUSTER Lidar
Return Mode is used only by Velodyne Lidar
[25-08-2021 14:27:00] Driveworks exception thrown: DW_FAILURE: DecoderVelodyne::processStatus, device type does not match product ID 0x22

terminate called after throwing an instance of ‘std::runtime_error’
what(): [2021-08-25 14:27:00] DW Error DW_FAILURE executing DW function:
dwSAL_createSensor(&m_lidarSensor, params, m_sal)
at /home/nvidia/dw_samples/src/sensors/lidar/lidar_replay/main.cpp:113
Aborted (core dumped)

[hitesh.pandya1]

The image showing the model of our Velodyne Lidar is attached herewith.

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1 ,
Could you check Cannot record LiDAR(VLP16-HiRes) - device type does not match product ID 0x22 if it helps. Please check the product ID in lidar packets

[hitesh.pandya1]

Thanks for the response. Please find below the product Id details of the Velodyne Lidars

Also, please find below the screenshot of the wireshark trace with product id as 0x24

Please note that as per the eco-system hw/sw document, it clearly mentions that Velodyne: Puck Hi-Res (VLP16 Hi Res) is supported by DRIVE Software 10 + DriveWorks 3.5. The Velodyne link also will take to the same Lidar device.

Please let us know how we can integrate this lidar as mentioned in the supported lidars.

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
Could you check the sensor model in lidar configuration page and share here? DW supports only VLP-16-Hi-Res-M12 model. Could you check section 4.5 in DW 3.5 release notes(https://developer.download.nvidia.com/driveworks/secure/drive_docs/NVIDIA_DriveWorks_3.5_Linux_Release_Notes.pdf?dH9gVxhMMKUNQD399agIbTqmCOEARsktG2J1ZmFcVrzVBe_yRm78i7xT88C53MCjIpwCg8dqvU6bntd05uUhIl-BgkUd-dzXNMwjXvjgvcLeF4GuoeyKLw6Ip1-4P0-130Az7APemA4jiYtqHIXo5BQwNW8qBq8InqTcbKrPTkAywSWKQ188DTs)

[hitesh.pandya1]

Please find below, the screenshot of the Lidar configuration page.

In the ecosystem-partner page (screenshot above), it only mentions Velodyne Puck Hi-Res (VLP16 Hi Res). It does not even mention M12.

Further, please let us know how we could connect this Lidar to the Drive AGX.

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
This lidar model is not natively supported by DW. You need to implement plugin to get it work with DW.
Before that, we should connect and configure lidar to receive packets.

The network interface changes seems to right and could you confirm you had no improvement after changing LIDAR IP as suggested?

[hitesh.pandya1]

@SivaRamaKrishnaNV

he network interface changes seems to right and could you confirm you had no improvement after changing LIDAR IP as suggested?

Hello SivaRamaKrishna,

Thanks. Yes, I tried changing the LiDAR IP as suggested but has no improvement. It is still not able to connect to the Drive AGX.

[SivaRamaKrishnaNV]

Dear @hitesh.pandya1,
This is strange. Could you check with vendor on connection details once?