Multiple lidars using recorder tool

How do I configure the json file for recorder to log multiple lidars?

Thanks in advanced.

Dear mae25,
You can add the following code snippet to make entry of lidar to Json config file.

"lidar" : {
        "write-file-pattern": "lidar_*",
        "sensors" : [
            {
                "separate-thread": true,
                "protocol": "lidar.socket",
                "params": "device=XXX,ip=XXX,port=XXX,scan-frequency=12.5",
                "channel-name": "ibeo"
            }
        ]
    }

More details about recorder configuration is at DRIVE_Software_Docs\DRIVE_Software\dav\rigconfiguration_usecase0.html in the documentation. You can run sample_sensor_info to know the supported sensors information to fill the config file.

Thanks, SivaRamaKrishna. But, how would I add a second (third, fourth…) lidar to this code snippet?

Dear mae25,

Could you please let me know if you are using DrivePX2 or DriveAGX? Thanks.

DPX2, thanks Steve.

Dear mae25,
You can find the .json file at driveworks-1.2/tools/capture/configs/hyperion7_1/release1.json.
I am providing code snippet for IBEO_LUX_8L. As per your LIDAR, please add similar corresponding code snippet to sensors array in .json file.

{
                "name": "lidar:front:center:ibeo",
                "nominalSensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                },
                "parameter": ",file-buffer-size=8388608,device=IBEO_LUX_8L,ip=192.168.1.233,port=12002,scan-frequency=12.5,index_table=off",
                "properties": null,
                "protocol": "lidar.socket",
                "sensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                }
            }

If you want to add more lidars, you need to add corresponding entries similarly in sensors array.

Dear SivaRamaKrishna,

I understand how to add one lidar to the json file, that is working fine, but still confused on how to add a second. I am basically doing the following for one. But how do I add second that is on a separate ip/port? Thanks for the help.

“lidar” : {
“write-file-pattern”: “lidar_*”,
“sensors” : [
{
“separate-thread”: true,
“protocol”: “lidar.socket”,
“params”: “device=XXX,ip=XXX,port=XXX,scan-frequency=12.5”,
“channel-name”: “ibeo”
}
]
}

Dear mae25,

Could you please try to add second Lidar with different “name”: “lidar:rear:center:ibeo” and params?

{
                "name": "lidar:front:center:ibeo",
                "nominalSensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                },
                "parameter": ",file-buffer-size=8388608,device=IBEO_LUX_8L,ip=192.168.1.233,port=12002,scan-frequency=12.5,index_table=off",
                "properties": null,
                "protocol": "lidar.socket",
                "sensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                }
            }
{
                "name": "lidar:front:<b>rear</b>:ibeo",
                "nominalSensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                },
                "parameter": ",file-buffer-size=8388608,device=IBEO_LUX_8L,ip=x.x.x.x,port=xxxx,scan-frequency=12.5,index_table=off",
                "properties": null,
                "protocol": "lidar.socket",
                "sensor2Rig": {
                    "quaternion": [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ],
                    "t": [
                        3.73000001907349,
                        0.0,
                        -0.00999999977648258
                    ]
                }
            }