LIDAR INTEGRATION WITH DRIVEWORKS

Hello,
I’m tring to run the Lidar Point Clouds Sample.And my lidar is VELO HDL64E.I want to know how to connect the lidar to the network.Thank you.

Dear RD91pbo,

Could you please refer to “Lidar Accumulator Sample” session in DriveWorks doc for this topic?
/usr/local/driveworks-2.0/doc/nvsdk_html/dwx_lidar_accumulator_sample.html

Dear SteveNV,

After refer to “Lidar Accumulator Sample” session in DriveWorks doc,I still connot connect to the Lidar,and it turns out that:

nvidia@tegra-ubuntu:/usr/local/driveworks/bin$ ./sample_lidar_replay --protocol=[lidar.socket] --params=device=[VELO_HDL64E],ip=[192.168.3.42],port=[2368],scan-frequency=[10.0] 
Program Arguments:
--params=device=[VELO_HDL64E],ip=[192.168.3.42],port=[2368],scan-frequency=[10.0]
--protocol=[lidar.socket]
--show-intensity=false

[30-10-2019 1:36:26] Initialize DriveWorks SDK v1.2.400
[30-10-2019 1:36:26] Release build with GNU 4.9.4 from v1.2.0-rc11-0-ga7f5475 against Vibrante PDK v5.0.10.3
[30-10-2019 1:36:26] Platform: Detected Drive PX2 - Tegra B
[30-10-2019 1:36:26] TimeSource: monotonic epoch time offset is 1572423366990915
[30-10-2019 1:36:26] TimeSource: PTP ioctl returned error. Synchronized time will not be available.
[30-10-2019 1:36:26] TimeSource: Could not detect valid PTP time source at 'eth0'. Fallback to CLOCK_MONOTONIC.
[30-10-2019 1:36:26] Platform: number of GPU devices detected 2
[30-10-2019 1:36:26] Platform: currently selected GPU device discrete ID 0
[30-10-2019 1:36:26] SDK: Resources mounted from /usr/local/driveworks-1.2/data/resources
[30-10-2019 1:36:26] SDK: Create NvMediaDevice
[30-10-2019 1:36:26] SDK: Create NvMediaIPPManager
[30-10-2019 1:36:26] egl::Display: found 2 EGL devices
[30-10-2019 1:36:26] egl::Display: use drm device: drm-nvdc
[30-10-2019 1:36:26] SensorFactory::createSensor() -> [lidar.socket], device=[VELO_HDL64E],ip=[192.168.3.42],port=[2368],scan-frequency=[10.0]
[30-10-2019 1:36:26] Driveworks exception thrown: DW_SAL_NO_DRIVER_FOUND: [lidar.socket]

Cannot connect to Lidar
[30-10-2019 1:36:26] SDK: Release NvMediaDevice
[30-10-2019 1:36:26] Driveworks SDK released
[30-10-2019 1:36:26] SDK: Release NvMedia2D

Could you please help me figure out whatb the problem is?I will be very appreciate it.

Dear RD91pbo,
Could you remove “[” and “]” in parameters. Also, check the IP and port number of LIDAR and use the same values as parameters

Dear SivaRamaKrishna,
Thanks for your timely help,It’s very useful.I have run the lidar replay sample,but the point cloud is not fully displayed just as the following picture.

My lidar’s scan frequency is 10.0Hz,and I set it in the sample correctly just like this

nvidia@tegra-ubuntu:/usr/local/driveworks/bin$ ./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_HDL64E,ip=192.168.3.43,port=2368,scan-frequency=10.0

but it turns out as flowing:

nvidia@tegra-ubuntu:/usr/local/driveworks/bin$ ./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_HDL64E,ip=192.168.3.43,port=2368,scan-frequency=10.0
Program Arguments:
--params=device=VELO_HDL64E,ip=192.168.3.43,port=2368,scan-frequency=10.0
--protocol=lidar.socket
--show-intensity=false

[31-10-2019 22:31:7] Initialize DriveWorks SDK v1.2.400
[31-10-2019 22:31:7] Release build with GNU 4.9.4 from v1.2.0-rc11-0-ga7f5475 against Vibrante PDK v5.0.10.3
[31-10-2019 22:31:7] Platform: Detected Drive PX2 - Tegra B
[31-10-2019 22:31:7] TimeSource: monotonic epoch time offset is 1572584674041699
[31-10-2019 22:31:7] TimeSource: PTP ioctl returned error. Synchronized time will not be available.
[31-10-2019 22:31:7] TimeSource: Could not detect valid PTP time source at 'eth0'. Fallback to CLOCK_MONOTONIC.
[31-10-2019 22:31:8] Platform: number of GPU devices detected 2
[31-10-2019 22:31:8] Platform: currently selected GPU device discrete ID 0
[31-10-2019 22:31:8] SDK: Resources mounted from /usr/local/driveworks-1.2/data/resources
[31-10-2019 22:31:8] SDK: Create NvMediaDevice
[31-10-2019 22:31:8] SDK: Create NvMediaIPPManager
[31-10-2019 22:31:8] egl::Display: found 2 EGL devices
[31-10-2019 22:31:8] egl::Display: use drm device: drm-nvdc
[31-10-2019 22:31:8] SensorFactory::createSensor() -> lidar.socket, device=VELO_HDL64E,ip=192.168.3.43,port=2368,scan-frequency=10.0
[31-10-2019 22:31:8] LidarSocket::LidarSocket, connected to 192.168.3.43:2368
trying to read lidar packet: DW_TIME_OUT
trying to read lidar packet: DW_TIME_OUT
trying to read lidar packet: DW_TIME_OUT
trying to read lidar packet: DW_TIME_OUT
trying to read lidar packet: DW_TIME_OUT



[31-10-2019 22:34:45] Sensor statistics for: lidar.socket, device=VELO_HDL64E,ip=192.168.3.43,port=2368,scan-frequency=10.0
[31-10-2019 22:34:45] Events: 0
Errors: 0
Drops: 0
minDelta: 15.0000000
maxDelta: 4867.0000000
meanDelta: 172.865112
Standard deviation: 32.667068
[31-10-2019 22:34:45] LidarSocket::readPacketsFromNet, device disconnected, 192.168.3.43:16393
[31-10-2019 22:34:45] SDK: Release NvMediaDevice
[31-10-2019 22:34:45] Driveworks SDK released
[31-10-2019 22:34:45] SDK: Release NvMedia2D

I noticed that the timesource might have some problem,could you please help me figure out this problem,I will be very grateful.

Dear RD91pbo,

The image you uploaded seems to be broken.
BTW the port number is 2368, would you like to try setting the port to 10000 and try it again? Thanks.

Hi RD91pbo,

Have you tried again with our suggestion - setting the port to 10000?
Any result can be shared?