Table Of Contents - Danfoss PLUS+1 Compliant User Manual

User Manual
Ouster LiDAR
Contents
Introduction
Add the Ouster Block
Configure One LiDAR
Configure Multiple LiDARs
Inputs, Outputs, and Parameters
Application Recommendations
Frequently Asked Questions
© Danfoss | March 2023
Background on Autonomous Machines.................................................................................................................................. 4
Perception......................................................................................................................................................................................5
Positioning.....................................................................................................................................................................................5
Navigation..................................................................................................................................................................................... 5
Other Autonomous Requirements....................................................................................................................................... 5
How Most LiDAR Sensors Work................................................................................................................................................... 6
Point Clouds..................................................................................................................................................................................7
Filtering Point Cloud Data........................................................................................................................................................7
Blooming........................................................................................................................................................................................9
How Ouster LiDAR Sensors Work................................................................................................................................................9
Coordinate Systems.................................................................................................................................................................10
Azimuth Window...................................................................................................................................................................... 11
Rings..............................................................................................................................................................................................12
Ouster LiDAR Supporting Features......................................................................................................................................... 13
Delete the Old Ouster Block C Code....................................................................................................................................... 14
Find the Newest Ouster and Data Lockers Blocks..............................................................................................................14
Wire One Ouster LiDAR Block.................................................................................................................................................... 17
Configure Parameters...................................................................................................................................................................18
Hardware and Ethernet Configuration Guidelines for One LiDAR...............................................................................19
Configure Hardware Directly to the Controller............................................................................................................. 19
Disconnect the Ethernet Output Parameters........................................................................................................... 20
Configure Using the Controller DHCP Service............................................................................................................... 21
Configure the Ethernet Output Using the Controller DHCP Service................................................................ 22
Configure Hardware on a Local Network.........................................................................................................................23
Configure Ethernet Output Using External DHCP Service................................................................................... 25
Using Namespaces........................................................................................................................................................................ 26
Change Namespace Value.....................................................................................................................................................26
Wire Multiple Ouster LiDAR Blocks..........................................................................................................................................27
Configure Ethernet Outputs...................................................................................................................................................... 28
Customize Checkpoint Message Signals..........................................................................................................................30
Hardware Configuration Guidelines....................................................................................................................................... 30
Inputs..................................................................................................................................................................................................32
Parameters.................................................................................................................................................................................. 32
Outputs..............................................................................................................................................................................................33
Debug Signals............................................................................................................................................................................35
Fault Signals................................................................................................................................................................................36
How ACL Blocks Work Together............................................................................................................................................... 37
LiDAR Sensor Safety...................................................................................................................................................................... 37
Save Processing Time................................................................................................................................................................... 38
AQ404281942428en-000103 | 3