How to connect ibeo LUX to Drive PX2

Hey all,
I am trying to connect an ibeo LUX Lidar to the Drive PX2. Can somebody please help me out with the necessary steps? I tried setting the IP and port in the recorder-config.json file to record the data with the recorder-qt application. However this only results in an “Driveworks exception thrown: DW_SAL_CANNOT_INITIALIZE: LidarSocket: Socket error”. I am assuming this has to do with the static IP being used by the LUX Lidar but I am a bit lost on how to fix things. On a different Ubuntu machine I can simply change my network setting to a static IP, but I could not find a way to do this on the PX2 … Or am I going down a completely wrong path?

Thanks a lot for any help!

Hello ciouiosl,
Could you please see “/usr/local/driveworks-0.2.1/doc/nvdwx_html/dwx_lidar_replay_sample.html”? Thanks.

Hello, Steve, I really think the reference is not very clear.

it may take several hours to figure out how to confgiure the parameters of your samples.

Like this one, lidar_replay_sample, do you think the following is right:

The command line for the sample to display live Lidar point clouds is:

./sample_lidar_replay --ip=[lidar IP address] --port=[lidar port] --device=[type of device] --scan-frequency=[valid frequency]

The Lidar must be up and running, and connected to the network.
Currently supported devices are Quanergy M8 [QUAN_M81A], IBEO Lux [IBEO_LUX], Velodyne VPL16 [VELO_VPL16], Velodyne HDL32 [VELO_HDL32E] and Velodyne HDL64E [VELO_HDL64E]
Scan frequency is usually preset using the Lidar vendor tools. The exception is the IBEO Lux Lidar, where the value provided is used to set the sensor frequency (valid values are 12.5, 25, and 50 Hz)

The command line for the sample to display live Lidar point clouds is:

./sample_lidar_replay --file=[lidar file]

The Lidar file can be obtained with the provided recording tools.
If no arguments are passed, a default Lidar file is loaded.

Do the two cases both show the live, live, lidar point clouds?

Besides, maybe the person want to know how to configure the ethernet-interface of the DrivePX2 (not the ethernet of TegraA and TegraB).

Actually, if you can tell others that you need not to configure the ethernet-port(in the harness cable), and the users only need to configure the lidar’s ip using the tool provided by the lidar, like IBEO’s ILV_Basic。

For example, if the IP of PX2 is: 10.42.0.28;

just set the IP of your lidar: 10.42.0.xx, other than 28.

After setting the IP of lidar, maybe you need to re-power the lidar, then connect to the PX2,

you can ping it.

and using the cmd line:

./sample_lidar_replay --ip=10.42.0.xx --port=xxxxx --device=IBEO_LUX --scan=25

ok, it works.

Hi,

I set the ip address of the lidar to 10.42.0.10, but I am not able to ping the Lidar.

The lidar is connected via the blue ethernet port.

Not sure how to resolve this. I can ping the Lidar on a different machine with a static port ip of 10.42.0.28 so the lidar is configured correctly

ifconfig gives following:

enp3s0 Link encap:Ethernet HWaddr 00:04:4b:60:03:95
UP BROADCAST MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)

eth0 Link encap:Ethernet HWaddr 00:04:4b:70:7a:4e
inet addr:10.29.18.187 Bcast:10.29.19.255 Mask:255.255.254.0
inet6 addr: 2610:130:107:400:204:4bff:fe70:7a4e/64 Scope:Global
inet6 addr: fe80::204:4bff:fe70:7a4e/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:8110 errors:0 dropped:72 overruns:0 frame:0
TX packets:1962 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:1697510 (1.6 MB) TX bytes:5906662 (5.9 MB)
Interrupt:46

eth0.200 Link encap:Ethernet HWaddr 00:04:4b:70:7a:4e
inet addr:10.42.0.28 Bcast:10.42.0.255 Mask:255.255.255.0
inet6 addr: fe80::204:4bff:fe70:7a4e/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:78 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:7752 (7.7 KB)

lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope:Host
UP LOOPBACK RUNNING MTU:65536 Metric:1
RX packets:31 errors:0 dropped:0 overruns:0 frame:0
TX packets:31 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1
RX bytes:2844 (2.8 KB) TX bytes:2844 (2.8 KB)

Hi,man, from the information you provided, can you set the lidar’s ip as 10.29.18.xx and have a try.

I want to know the difference between eth0 and eth0.200, would you please tell me something about that.

I tried both didn’t work. I am not sure what the difference between eton0 and eth0.200 is. It was there from before - I didn’t set it up.

Thanks

I would also like to know what the difference are between eth0 and eth0.200

Dear nobis,
eth0.200 is VLAN interface. This interface is setup for communication between Tegra and AURIX using Ethernet.