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Version: 2.4.6

FAQ

Q. I have a discovery kit, but I don’t know what to do.​

A. Are you new to Discovery kit? Please check Quick Start Guide first.

Q. How can I get my License?​

A. If you received Discovery Kit from distributors, download .lic file from [License portal].

Q. I would like to update SENSR to the new version​

A. Click the version you want to upgrade on SR-LAUNCHER, and click the upgrade button.

Q. I would like to use other kinds of lidars.​

A. You are supposed to get upgrade your license file. Please contact your business partner.

If you consistently cannot see additional lidar configuration in SENSR: Please download the upgraded version of the license file through your business partner or License Portal. Make sure you have a recent version of the .lic file on your system.

Q. How to import presets?​

A.

  1. Preset file format is .bin
  2. Go to the menu SENSR > Settings > Algo Node Parameters > Manage presets > Import preset
  3. Select Preset Name.bin file
  4. Go to Algo node configuration window and select Preset Name on the preset input box

Q. How can I record rosbag file?​

A.

  • Go to the menu SENSR > Replay > Record
    1. Record Points The Record file will include the Ground, background and objects points. But if you do not, it has just information related to objects. It will produce “Filename.tar.gz” files
    2. Record Rosbag SENSR will produce “algo_XXX.bags” file in the project file with the new folder named “Record_Filename_rosbags”

The .tar.gz file replays the situation as it is when the runtime is started. However, the .tar.gz file itself does not contain raw data, and raw data must be used in a rosbag.

  • Or you can record Rosbag in terminal
    1. Open a new terminal (ctrl+alt+t)
    2. Type rosbag record -a
    3. To terminate rosbag recording: ctrl+c
    4. Rosbag file is located at the current folder

Q. Which outputs does SENSR have?​

A. Live data stream(TCP and Websocket). You can check SDK sample code from here

We also provide JavaScript and Python interfaces inside the SDK to easily work with SENSR output in those languages. For more information on how to use JavaScript and Python, please refer to the relevant readme in the SDK repository.

Q. How to interpret x and y value of velocity elements(SDK)?​

A. For example, if you have the x and y value like below, x: -10.330358505249023 y: -0.5107154250144958

The velocity(≈speed) is sqrt(xx + yy) And the angle(≈direction) is atan2(y, x) So -10 m/s and -0.5m/s are just the x and y components of the velocity.

Q. How to get my IP address of Web Frontend?​

A. You can check your ip address here:http://www.whatismyip.com/

  1. IP address where embedded SENSR is running Default : 127.0.0.1
  2. Publishing port of SENSR-I (Web) server Default: 5000
  3. Open Chrome browser and type ‘http://[SENSR-I(Web) server ip address]:[publish port]’ E.g ) http://localhost:5000

Q. I have pcap file. Can I use it in SENSR?​

A. We only support Rosbag file in SENSR. If you would like to use Pcap file, you need to convert the file to rosbag. Please refer to how to convert pcap into rosbag

Q. How can I convert pcap file into rosbag file?​

A. Velodyne lidar has a library to convert pcap into rosbag. Check pcap converting page at here

Otherwise: you have write your own code to convert.

Q. Which lidars do you support?​

A. We are sensor-agnostic. Please check the lidar support list at here

Q. How do I make SENSR autostart?​

A. Please see here

Q. How do I know the point's intensity value?​

A. Download Rviz

Q. How can I kill the process of Web FE?​

A. If the default port (5000) is pre-occupied or you want to kill the process of Web FE, you can use the command below.

$lsof -P -n -t -i:5000 | xargs kill -2

Q. I have set "Time Sync Configuration" and I have trouble in connection between lidar and algo node​

A. Please refer to Time Sync

Q. How do I know the point's intensity value?​

A. Please refer to how to know points intensity value

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