Velodyne

where exactly to specify ip address of the velodyne lidar for IsaaC?
for IsaaC Likago?
Which exactly file should I edit or how else do I pass the ip address parameter?

running:

 ./packages/laikago/apps/laikago_navigate --config laikago_navigate-pkg/apps/assets/maps/nvidia_R_180306.config.json --graph laikago_navigate-pkg/apps/assets/maps/nvidia_R_180306.graph.json 

2020-08-14 11:26:27.458 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet 'navigation.planner.global_plan/random' was not added to scheduler because no tick method is specified.
2020-08-14 11:26:27.906 ERROR engine/alice/components/Codelet.cpp@229: Component '2d_laikago.laikago_hardware.vlp16/VelodyneLidar' of type 'isaac::velodyne_lidar::VelodyneLidar' reported FAILURE:

    Empty message or timeout: code=4294967295, errno=11

2020-08-14 11:26:27.907 ERROR engine/alice/backend/event_manager.cpp@42: Stopping node '2d_laikago.laikago_hardware.vlp16' because it reached status 'FAILURE'

It’s in the .app.json config parameter:

“config”: {
“vlp16”: {
“isaac.velodyne_lidar.VelodyneLidar”: {
“ip”: “192.168.1.211”,
“port”: 2369
},
“lidar_initializer”: {
“lhs_frame”: “pose”,
“rhs_frame”: “lidar”,
“pose”: [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},

@d.hofmeister
Thank you for your response!
Does it ned to be added to app.json manually?
E.g. in laikago app.json there are no such lines; when I copy paste to there the lines above it would throw an error on execution;

It’s in the laikago_hardware.subgraph.json
it doesn’t mention a port there, but for clarity, add it.

Thank you very much!

Could you also point out to demo apps that can be used to visualize velodyne in IsaaC, please?
So far I only come up with :

/laikago_navigate-pkg$ ./packages/laikago/apps/laikago_navigate --config ~/deploy/nvme-asus/laikago_navigate-pkg/apps/assets/maps/nvidia_R_180306.config.json --graph ~/deploy/nvme-asus/laikago_navigate-pkg/apps/assets/maps/nvidia_R_180306.graph.json

are there any other simple demos that would use/ display v16 to see that it works? that would work for brief demonstratoin of it working status within IsaaC?