hi
We try to connect lidar to px2, and run sample code ./lidar_replay on driveworks-0.6.
There are two Ethernet cables one for connecting Internet(cable1), another is for lidar(cable2).
way1:
At the beginning we insert cable2 on px2 and power on px2 and lidar, and we can’t execute ./lidar_replay.
way2:
We insert cable1 on px2 and power on .When we confirm that cable1 is working, change to cable2.
We run ./lidar_replay successfully.
Always need to confirm cable1 working fine first. We have checked it many time.
We use the following command to confirm that the Ethernet is working properly.
$ sudo tcpdump -i eh0
Command for sample code:
$ sudo ./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP16,ip=10.0.15.210,port=2368,scan-frequency=12,protocol=udp
Hi, were you able to find a way to do this without connecting to the internet first? I have the same scenario, but I want to know if I can connect to the Velodyne without connecting the px2 to the internet.
I was able to figure this out.
First, you need to change the Host(Destination) IP address in the velodyne configuration to a 192.168.1.XX , where XX is any number (different than the lidar’s own IP address).
Next, you need to go into the network settings of the Drive PX2, by going to “/etc/systemd/network/”. Next remove eth0 information from the existing network file (this is the [match] info and the DCHP info corresponding to eth0). Then create a new file, I called it static.network. In here, enter the following:
[Match]
Name=eth0
[Network]
Address=192.168.1.XX
Gateway=192.168.1.1
DNS=192.168.1.1
This keeps the Gateway consistent with the Lidar gateway. Now you have to restart your network settings by typing: “sudo systemctl restart systemd-networkd”
Then you can check to make sure its sending from lidar IP address and port, to px2 ip address and port by entering the command: “sudo tcpdump -i eth0”.
Now the sample_lidar_replay should be working with the following command:
“sudo ./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP16,ip=192.168.1.201,port=2368,scan-frequency=10,protocol=udp”