Sensor-ext

note

This is a special resource to control sensors in SENSR. You can add, delete or modify sensors via this resource.

caution

Replace [SENSR version] with exact version you are using. But please make sure to use it upto minor version. For example, if the version is 2.4.9, then 2.4.

GET

/[SENSR version]/settings/sensor-ext/list

• Get the list of available config-id and config data type of a specific type of sensor.

• List of the types that SENSR API supports natively can be found here.

• Parameters
  • sensor-type : The type of sensor(lidar/odom/can)
• Return code
  • 200 OK
  • 404 NOT FOUND

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/sensor-ext/list?sensor-type=lidar'
** Respond **
[
    {
        "uid": "String",
        "name": "String",
        "topic": "String",
        "sensor": "String",
        "stack_capacity": "Int",
        "detection_radius": "Float",
        "horizontal_angle_range": "Vector2",
        "use_lidar_timestamp" : "Bool",
        "use_intensity_filtering" : "Bool",
        "minimum_intensity": "Float",
        "retro_reflective_intensity": "Float",
        "arguments": "Table",
        "base_to_origin": {
            "tx": "Float",
            "ty": "Float"
        },
        "sensor_to_base": {
            "tz": "Float",
            "qw": "Float",
            "qx": "Float",
            "qy": "Float",
            "qz": "Float"
        }
    }
]

/[SENSR version]/settings/sensor-ext

• Get an actual configuration settings of the desired sensor.

• If you do not pass any sensor-id, this command returns the full sensor IDs in SENSR. You can filter this list by passing in node-uri to filter out only the sensors beloning to a specified algo node.

• Parameters
  • sensor-id : ID of sensor.
  • node-uri (optional) : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/sensor-ext?sensor-id=lidar_0000'
** Respond **
{
    "uid": "lidar_0000",
    "name": "PointCloud",
    "topic": "/velodyne_points",
    "sensor": "ROS Message",
    "stack_capacity": 0,
    "detection_radius": 1000.0,
    "horizontal_angle_range": [-180.0, 180.0],
    "use_lidar_timestamp" : false,
    "use_intensity_filtering" : false,
    "minimum_intensity": 0.0,
    "retro_reflective_intensity": 200.0,
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    },
    "arguments": {}
}

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/sensor-ext'
** Respond **
[
    "lidar_0000",
    "lidar_0001"
]

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/sensor-ext?node-uri=algo_0000'
** Respond **
[
    "lidar_0000"
]

PUT

/[SENSR version]/settings/sensor-ext

• Add a new sensor to the desired algo node. If this command was successful the ID of the newly added sensor is returned.

• You should pass in the sensor data with this PUT command via the request body.

• You should also call /commands/apply-change to apply and save your changes. Without this the changes will not properly take effect in SENSR.

• List of valid sensor

  • "ROS Message"
  • "Velodyne 16"
  • "Velodyne 32"
  • "Velodyne 64"
  • "Velodyne 128"
  • "Velodyne HDL-32"
  • "Hesai 20A"
  • "Hesai 20B"
  • "Hesai 40P"
  • "Hesai 40M"
  • "Hesai XT-16"
  • "Hesai XT-32"
  • "Hesai QT"
  • "Hesai 64"
  • "Livox"
  • "Innoviz Pro" // X86_64 only
  • "Innoviz One" // X86_64 only
  • "Ouster-OS"
  • "Baraja"
  • "Cepton Vista"
  • "Quanergy"
  • "Quanergy MQ-8"
  • "Blickfeld Cube 1"
  • "Blickfeld Cube Range 1"
  • "Luminar Hydra"
  • "Innovusion Falcon"
  • "AEye 4Sight M"
• Parameters
  • node-uri : ID of the desired algo node.
  • sensor-type : The type of sensor (lidar/odom/can)
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X PUT 'http://localhost:9080/[SENSR version]/settings/sensor-ext?node-uri=algo_0000&sensor-type=lidar'
--data '{
    "name": "PointCloud",
    "topic": "/velodyne_points",
    "sensor": "ROS Message",
    "stack_capacity": 0,
    "detection_radius": 1000.0,
    "horizontal_angle_range": [-180.0, 180.0],
    "use_lidar_timestamp" : false,
    "use_intensity_filtering" : false,
    "minimum_intensity": 0.0,
    "retro_reflective_intensity": 200.0,
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    },
    "arguments": {}
}'
** Respond **
"lidar_0001"

POST

/[SENSR version]/settings/sensor-ext

• Update the config of the desired sensor. The uid-field of the body specifies which sensor this will be applied to. Also note that topic should be unique within an algo node.

• See the PUT section for the list of valid sensors.

• You should also call /commands/apply-change to apply your changes.

• Parameters
  • N/A
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X POST 'http://localhost:9080/[SENSR version]/settings/sensor-ext' 
--data '{
    "uid": "lidar_0000",
    "name": "PointCloud",
    "topic": "/velodyne_points",
    "sensor": "ROS Message",
    "stack_capacity": 0,
    "detection_radius": 1000.0,
    "horizontal_angle_range": [-180.0, 180.0],
    "use_lidar_timestamp" : false,
    "use_intensity_filtering" : false,
    "minimum_intensity": 0.0,
    "retro_reflective_intensity": 200.0,
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    },
    "arguments": {}
}'
** Respond **
200 OK

DELETE

/[SENSR version]/settings/sensor-ext

• Delete a sensor.

• Parameters
  • sensor-id : ID of sensor.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X DELETE 'http://localhost:9080/[SENSR version]/settings/sensor-ext?sensor-id=lidar_0001'        
** Respond **
200 OK