HTTP API Reference Guide
This reference guide documents the interface for HTTP API and is accessible via /api/v1 on the sensor hosted HTTP server.
The sensor can be queried and configured using an HTTP GET requests. This can be done using several different tools such as httpie, curl, Advanced REST Client, etc.
Here is an example using curl command:
$ curl --request GET --url http://169.254.198.184/api/v1/sensor/metadata/lidar_intrinsics
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
}
Sensor Metadata
GET /api/v1/sensor/metadata/sensor_info
-
GET169.254.198.184/api/v1/sensor/metadata/sensor_info Get the sensor information
http
GET /api/v1/sensor/metadata/sensor_info HTTP/1.1 Host: 169.254.198.184 HTTP/1.1 200 OK content-length: 321 content-type: application/json { "base_pn": "", "base_sn": "", "build_date": "2022-03-31T23:38:32Z", "build_rev": "v2.3.0-rc.2", "image_rev": "ousteros-image-prod-aries-v2.3.0-rc.2+20220401070201.staging", "initialization_id": 5431288, "prod_line": "OS-1-128", "prod_pn": "840-103575-06", "prod_sn": "992139000666", "proto_rev": "", "status": "RUNNING" }
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/sensor_info --data-raw 'HTTP/1.1 200 OK content-length: 321 content-type: application/json { "base_pn": "", "base_sn": "", "build_date": "2022-03-31T23:38:32Z", "build_rev": "v2.3.0-rc.2", "image_rev": "ousteros-image-prod-aries-v2.3.0-rc.2+20220401070201.staging", "initialization_id": 5431288, "prod_line": "OS-1-128", "prod_pn": "840-103575-06", "prod_sn": "992139000666", "proto_rev": "", "status": "RUNNING" }'
httpie
echo 'HTTP/1.1 200 OK content-length: 321 content-type: application/json { "base_pn": "", "base_sn": "", "build_date": "2022-03-31T23:38:32Z", "build_rev": "v2.3.0-rc.2", "image_rev": "ousteros-image-prod-aries-v2.3.0-rc.2+20220401070201.staging", "initialization_id": 5431288, "prod_line": "OS-1-128", "prod_pn": "840-103575-06", "prod_sn": "992139000666", "proto_rev": "", "status": "RUNNING" }' | http http://169.254.198.184/api/v1/sensor/metadata/sensor_info
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/sensor_info', data='HTTP/1.1 200 OK\r\n\ncontent-length: 321\r\n\ncontent-type: application/json\r\n\n\r\n\n {\r\n\n "base_pn": "",\r\n\n "base_sn": "",\r\n\n "build_date": "2022-03-31T23:38:32Z",\r\n\n "build_rev": "v2.3.0-rc.2",\r\n\n "image_rev": "ousteros-image-prod-aries-v2.3.0-rc.2+20220401070201.staging",\r\n\n "initialization_id": 5431288,\r\n\n "prod_line": "OS-1-128",\r\n\n "prod_pn": "840-103575-06",\r\n\n "prod_sn": "992139000666",\r\n\n "proto_rev": "",\r\n\n "status": "RUNNING"\r\n\n }')
- statuscode 200
No error
- Description
Returns JSON-formatted response that includes serial number, product number, FW image revision and sensor status along with other parameters as shown is provided.
GET /api/v1/sensor/metadata/lidar_data_format
-
GET169.254.198.184/api/v1/sensor/metadata/lidar_data_format Get the sensor lidar data format
http
GET /api/v1/sensor/metadata/lidar_data_format HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 661
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024,
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/lidar_data_format --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 661
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024,
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 661
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024,
}' | http http://169.254.198.184/api/v1/sensor/metadata/lidar_data_format
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/lidar_data_format', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 661\r\n\n\r\n\n {\r\n\n "column_window": [256, 768],\r\n\n "pixel_shift_by_row": [24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0],\r\n\n "columns_per_packet": 16,\r\n\n "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"\r\n\n "udp_profile_imu": "LEGACY",\r\n\n "pixels_per_column": 128,\r\n\n "columns_per_frame": 1024,\r\n\n }')
- statuscode 200
No error
- Description
Returns JSON-formatted response that describes the structure of a lidar packet.
columns_per_frame: Number of measurement columns per frame. This can be 512, 1024, or 2048, depending upon the set lidar mode.columns_per_packet: Number of measurement blocks contained in a single lidar packet. Currently in v2.2.0 and earlier, this is 16. Note: This is not user configurable.pixel_shift_by_row: Offset in terms of pixel count. Can be used to destagger image. Varies by lidar mode. Length of this array is equal to the number of channels of the sensor.pixels_per_column: Number of channels of the sensor.column_window: Index of measurement blocks that are active. Default is [0, lidar_mode-1], e.g. [0,1023]. If there is an azimuth window set, this parameter will reflect which measurement blocks of data are within the region of interest.udp_profile_lidar: Lidar data profile format. Default LEGACY.udp_profile_lidar: Lidar data profile format. Default LEGACY.udp_profile_imu: IMU data profile format. Default LEGACY.NOTE: This command only works when the sensor is in RUNNING status.
GET /api/v1/sensor/metadata/beam_intrinsics
-
GET169.254.198.184/api/v1/sensor/metadata/beam_intrinsics Get the sensor beam intrinsics
http
GET /api/v1/sensor/metadata/beam_intrinsics HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 4506
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999, -4.21,
4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004,
1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004, 1.4199999999999999,
-1.3999999999999999, -4.2000000000000002, 4.2300000000000004, 1.4099999999999999, -1.3899999999999999,
-4.21, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2199999999999998, 4.2400000000000002,
1.4399999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2599999999999998, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004, 4.2400000000000002,
1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999,
-1.3899999999999999, -4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4399999999999999,
-1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2199999999999998, 4.2400000000000002, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999,
-4.2400000000000002, 4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999, -4.2400000000000002,
4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25, 4.2599999999999998,
1.4299999999999999, -1.4099999999999999, -4.2599999999999998, 4.2599999999999998, 1.4199999999999999,
-1.4199999999999999, -4.2599999999999998, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999,
20.420000000000002, 20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001, 17.27,
16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34, 15.01, 14.67, 14.35,
14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33, 10.98, 10.640000000000001,
10.279999999999999, 9.9499999999999993, 9.6099999999999994, 9.2699999999999996, 8.9199999999999999,
8.5700000000000003, 8.2300000000000004, 7.8799999999999999, 7.54, 7.1799999999999997,
6.8399999999999999, 6.4699999999999998, 6.1299999999999999, 5.7800000000000002, 5.4500000000000002,
5.0899999999999999, 4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001, 1.22,
0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004, -0.92000000000000004,
-1.25, -1.6299999999999999, -1.98,-2.3100000000000001, -2.6699999999999999, -3.04,
-3.3999999999999999, -3.7400000000000002, -4.0899999999999999, -4.4500000000000002,
-4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001, -6.21, -6.5700000000000003,
-6.9100000000000001, -7.25, -7.6200000000000001, -7.9500000000000002, -8.3000000000000007,
-8.6500000000000004, -9.0099999999999998, -9.3499999999999996, -9.6899999999999995,
-10.050000000000001, -10.390000000000001, -10.74, -11.09, -11.42, -11.77, -12.109999999999999,
-12.449999999999999, -12.800000000000001, -13.140000000000001, -13.470000000000001,
-13.81, -14.15, -14.48, -14.82, -15.130000000000001, -15.470000000000001, -15.81,
-16.149999999999999, -16.48, -16.800000000000001, -17.149999999999999, -17.48, -17.789999999999999,
-18.120000000000001, -18.469999999999999, -18.77, -19.09, -19.420000000000002, -19.73,
-20.059999999999999, -20.359999999999999, -20.690000000000001, -21, -21.32, -21.620000000000001,
-21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/beam_intrinsics --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 4506
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999, -4.21,
4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004,
1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004, 1.4199999999999999,
-1.3999999999999999, -4.2000000000000002, 4.2300000000000004, 1.4099999999999999, -1.3899999999999999,
-4.21, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2199999999999998, 4.2400000000000002,
1.4399999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2599999999999998, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004, 4.2400000000000002,
1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999,
-1.3899999999999999, -4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4399999999999999,
-1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2199999999999998, 4.2400000000000002, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999,
-4.2400000000000002, 4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999, -4.2400000000000002,
4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25, 4.2599999999999998,
1.4299999999999999, -1.4099999999999999, -4.2599999999999998, 4.2599999999999998, 1.4199999999999999,
-1.4199999999999999, -4.2599999999999998, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999,
20.420000000000002, 20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001, 17.27,
16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34, 15.01, 14.67, 14.35,
14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33, 10.98, 10.640000000000001,
10.279999999999999, 9.9499999999999993, 9.6099999999999994, 9.2699999999999996, 8.9199999999999999,
8.5700000000000003, 8.2300000000000004, 7.8799999999999999, 7.54, 7.1799999999999997,
6.8399999999999999, 6.4699999999999998, 6.1299999999999999, 5.7800000000000002, 5.4500000000000002,
5.0899999999999999, 4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001, 1.22,
0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004, -0.92000000000000004,
-1.25, -1.6299999999999999, -1.98,-2.3100000000000001, -2.6699999999999999, -3.04,
-3.3999999999999999, -3.7400000000000002, -4.0899999999999999, -4.4500000000000002,
-4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001, -6.21, -6.5700000000000003,
-6.9100000000000001, -7.25, -7.6200000000000001, -7.9500000000000002, -8.3000000000000007,
-8.6500000000000004, -9.0099999999999998, -9.3499999999999996, -9.6899999999999995,
-10.050000000000001, -10.390000000000001, -10.74, -11.09, -11.42, -11.77, -12.109999999999999,
-12.449999999999999, -12.800000000000001, -13.140000000000001, -13.470000000000001,
-13.81, -14.15, -14.48, -14.82, -15.130000000000001, -15.470000000000001, -15.81,
-16.149999999999999, -16.48, -16.800000000000001, -17.149999999999999, -17.48, -17.789999999999999,
-18.120000000000001, -18.469999999999999, -18.77, -19.09, -19.420000000000002, -19.73,
-20.059999999999999, -20.359999999999999, -20.690000000000001, -21, -21.32, -21.620000000000001,
-21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 4506
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999, -4.21,
4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004,
1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004, 1.4199999999999999,
-1.3999999999999999, -4.2000000000000002, 4.2300000000000004, 1.4099999999999999, -1.3899999999999999,
-4.21, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2199999999999998, 4.2400000000000002,
1.4399999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2599999999999998, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004, 4.2400000000000002,
1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999,
-1.3899999999999999, -4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999,
-4.2300000000000004, 4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4399999999999999,
-1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2199999999999998, 4.2400000000000002, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999,
-4.2400000000000002, 4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999, -4.2400000000000002,
4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25, 4.2599999999999998,
1.4299999999999999, -1.4099999999999999, -4.2599999999999998, 4.2599999999999998, 1.4199999999999999,
-1.4199999999999999, -4.2599999999999998, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999,
20.420000000000002, 20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001, 17.27,
16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34, 15.01, 14.67, 14.35,
14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33, 10.98, 10.640000000000001,
10.279999999999999, 9.9499999999999993, 9.6099999999999994, 9.2699999999999996, 8.9199999999999999,
8.5700000000000003, 8.2300000000000004, 7.8799999999999999, 7.54, 7.1799999999999997,
6.8399999999999999, 6.4699999999999998, 6.1299999999999999, 5.7800000000000002, 5.4500000000000002,
5.0899999999999999, 4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001, 1.22,
0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004, -0.92000000000000004,
-1.25, -1.6299999999999999, -1.98,-2.3100000000000001, -2.6699999999999999, -3.04,
-3.3999999999999999, -3.7400000000000002, -4.0899999999999999, -4.4500000000000002,
-4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001, -6.21, -6.5700000000000003,
-6.9100000000000001, -7.25, -7.6200000000000001, -7.9500000000000002, -8.3000000000000007,
-8.6500000000000004, -9.0099999999999998, -9.3499999999999996, -9.6899999999999995,
-10.050000000000001, -10.390000000000001, -10.74, -11.09, -11.42, -11.77, -12.109999999999999,
-12.449999999999999, -12.800000000000001, -13.140000000000001, -13.470000000000001,
-13.81, -14.15, -14.48, -14.82, -15.130000000000001, -15.470000000000001, -15.81,
-16.149999999999999, -16.48, -16.800000000000001, -17.149999999999999, -17.48, -17.789999999999999,
-18.120000000000001, -18.469999999999999, -18.77, -19.09, -19.420000000000002, -19.73,
-20.059999999999999, -20.359999999999999, -20.690000000000001, -21, -21.32, -21.620000000000001,
-21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
}' | http http://169.254.198.184/api/v1/sensor/metadata/beam_intrinsics
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/beam_intrinsics', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 4506\r\n\n\r\n\n {\r\n\n "beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999, -4.21,\r\n\n 4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004,\r\n\n 1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004, 1.4199999999999999,\r\n\n -1.3999999999999999, -4.2000000000000002, 4.2300000000000004, 1.4099999999999999, -1.3899999999999999,\r\n\n -4.21, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2199999999999998, 4.2400000000000002,\r\n\n 1.4399999999999999, -1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,\r\n\n -1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999, -1.3999999999999999,\r\n\n -4.2300000000000004, 4.2599999999999998, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004,\r\n\n 4.2400000000000002, 1.4399999999999999, -1.4099999999999999, -4.2300000000000004, 4.2400000000000002,\r\n\n 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999,\r\n\n -1.3899999999999999, -4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999,\r\n\n -4.2300000000000004, 4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,\r\n\n 4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,\r\n\n 1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4399999999999999,\r\n\n -1.3999999999999999, -4.2400000000000002, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,\r\n\n -4.2400000000000002, 4.25, 1.4299999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,\r\n\n 1.4199999999999999, -1.4199999999999999, -4.2199999999999998, 4.2400000000000002, 1.4299999999999999,\r\n\n -1.3999999999999999, -4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999,\r\n\n -4.2400000000000002, 4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,\r\n\n 1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,\r\n\n -1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999, -1.3999999999999999,\r\n\n -4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999, -4.2400000000000002,\r\n\n 4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25, 4.2599999999999998,\r\n\n 1.4299999999999999, -1.4099999999999999, -4.2599999999999998, 4.2599999999999998, 1.4199999999999999,\r\n\n -1.4199999999999999, -4.2599999999999998, 4.25, 1.4199999999999999, -1.4199999999999999,\r\n\n -4.2699999999999996],\r\n\n "beam_altitude_angles": [21.010000000000002, 20.719999999999999,\r\n\n 20.420000000000002, 20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,\r\n\n 18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001, 17.27,\r\n\n 16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34, 15.01, 14.67, 14.35,\r\n\n 14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33, 10.98, 10.640000000000001,\r\n\n 10.279999999999999, 9.9499999999999993, 9.6099999999999994, 9.2699999999999996, 8.9199999999999999,\r\n\n 8.5700000000000003, 8.2300000000000004, 7.8799999999999999, 7.54, 7.1799999999999997,\r\n\n 6.8399999999999999, 6.4699999999999998, 6.1299999999999999, 5.7800000000000002, 5.4500000000000002,\r\n\n 5.0899999999999999, 4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,\r\n\n 3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001, 1.22,\r\n\n 0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004, -0.92000000000000004,\r\n\n -1.25, -1.6299999999999999, -1.98,-2.3100000000000001, -2.6699999999999999, -3.04,\r\n\n -3.3999999999999999, -3.7400000000000002, -4.0899999999999999, -4.4500000000000002,\r\n\n -4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001, -6.21, -6.5700000000000003,\r\n\n -6.9100000000000001, -7.25, -7.6200000000000001, -7.9500000000000002, -8.3000000000000007,\r\n\n -8.6500000000000004, -9.0099999999999998, -9.3499999999999996, -9.6899999999999995,\r\n\n -10.050000000000001, -10.390000000000001, -10.74, -11.09, -11.42, -11.77, -12.109999999999999,\r\n\n -12.449999999999999, -12.800000000000001, -13.140000000000001, -13.470000000000001,\r\n\n -13.81, -14.15, -14.48, -14.82, -15.130000000000001, -15.470000000000001, -15.81,\r\n\n -16.149999999999999, -16.48, -16.800000000000001, -17.149999999999999, -17.48, -17.789999999999999,\r\n\n -18.120000000000001, -18.469999999999999, -18.77, -19.09, -19.420000000000002, -19.73,\r\n\n -20.059999999999999, -20.359999999999999, -20.690000000000001, -21, -21.32, -21.620000000000001,\r\n\n -21.940000000000001],\r\n\n "lidar_origin_to_beam_origin_mm": 15.805999999999999\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted beam altitude and azimuth offsets, in degrees. Length of arrays is equal to the number of channels in the sensor. Also returns distance between lidar origin and beam origin in mm, to be used for point cloud calculations.
GET /api/v1/sensor/metadata/imu_intrinsics
-
GET169.254.198.184/api/v1/sensor/metadata/imu_intrinsics Get the sensor imu intrinsics
http
GET /api/v1/sensor/metadata/imu_intrinsics HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 117
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001,
0, 1, 0, -11.775, 0, 0, 1, 7.6449999999999996, 0, 0, 0, 1]
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/imu_intrinsics --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 117
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001,
0, 1, 0, -11.775, 0, 0, 1, 7.6449999999999996, 0, 0, 0, 1]
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 117
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001,
0, 1, 0, -11.775, 0, 0, 1, 7.6449999999999996, 0, 0, 0, 1]
}' | http http://169.254.198.184/api/v1/sensor/metadata/imu_intrinsics
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/imu_intrinsics', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 117\r\n\n {\r\n\n "imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001,\r\n\n 0, 1, 0, -11.775, 0, 0, 1, 7.6449999999999996, 0, 0, 0, 1]\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted IMU transformation matrix needed to transform to the Sensor Coordinate Frame.
GET /api/v1/sensor/metadata/lidar_intrinsics
-
GET169.254.198.184/api/v1/sensor/metadata/lidar_intrinsics Get the sensor lidar intrinsics
http
GET /api/v1/sensor/metadata/lidar_intrinsics HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 85
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/lidar_intrinsics --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 85
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 85
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
}' | http http://169.254.198.184/api/v1/sensor/metadata/lidar_intrinsics
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/lidar_intrinsics', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 85\r\n\n\r\n\n {\r\n\n "lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted lidar transformation matrix needed to transform to the Sensor Coordinate Frame.
GET /api/v1/sensor/metadata/calibration_status
-
GET169.254.198.184/api/v1/sensor/metadata/calibration_status Get the sensor calibration status
http
GET /api/v1/sensor/metadata/calibration_status HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 69
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata/calibration_status --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 69
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 69
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
}' | http http://169.254.198.184/api/v1/sensor/metadata/calibration_status
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata/calibration_status', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 69\r\n\n\r\n\n {\r\n\n "reflectivity":\r\n\n {\r\n\n "timestamp": "2021-10-05T00:02:36",\r\n\n "valid": true\r\n\n }\r\n\n }')
- status code 200
No error
- Description
Returns JSON formatted calibration status of the sensor reflectivity.
valid: true/false depending on calibration status.timestamp: if valid is true; time at which the calibration was completed.
GET /api/v1/sensor/metadata
-
GET169.254.198.184/api/v1/sensor/metadata Get the sensor metadata information
http
GET /api/v1/sensor/metadata HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 6675
{
"config_params":
{
"signal_multiplier": 1,
"udp_dest": "169.254.175.254",
"multipurpose_io_mode": "OFF",
"udp_port_lidar": 7502,
"nmea_leap_seconds": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"lidar_mode": "1024x10",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"nmea_ignore_valid_char": 0,
"udp_profile_imu": "LEGACY",
"sync_pulse_out_frequency": 1,
"operating_mode": "NORMAL",
"udp_ip": "169.254.175.254",
"columns_per_packet": 16,
"nmea_baud_rate": "BAUD_9600",
"phase_lock_enable": false,
"azimuth_window": [90000, 270000],
"udp_port_imu": 7503,
"sync_pulse_out_angle": 360,
"auto_start_flag": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"phase_lock_offset": 0,
"sync_pulse_in_polarity": "ACTIVE_HIGH"
},
"sensor_info":
{
"image_rev": "ousteros-image-prod-aries-v2.3.0-rc.1+20220319004702.staging",
"build_rev": "v2.3.0-rc.1",
"prod_sn": "992139000666",
"initialization_id": 5431287,
"base_sn": "",
"build_date": "2022-03-18T20:00:29Z",
"prod_pn": "840-103575-06",
"prod_line": "OS-1-128",
"proto_rev": "",
"status": "RUNNING",
"base_pn": ""
},
"beam_intrinsics":
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999,
-4.21, 4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998,
4.2300000000000004, 1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004,
1.4199999999999999, -1.3999999999999999, -4.2000000000000002, 4.2300000000000004,
1.4099999999999999, -1.3899999999999999, -4.21, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999,
-1.3999999999999999, -4.2300000000000004, 4.2599999999999998, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4199999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.3899999999999999,
-4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999, -4.2300000000000004,
4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4399999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4299999999999999, -1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2199999999999998, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999, -4.2400000000000002,
4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25,
4.2599999999999998, 1.4299999999999999, -1.4099999999999999, -4.2599999999999998,
4.2599999999999998, 1.4199999999999999, -1.4199999999999999, -4.2599999999999998, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999, 20.420000000000002,
20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001,
17.27, 16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34,
15.01, 14.67, 14.35, 14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33,
10.98, 10.640000000000001, 10.279999999999999, 9.9499999999999993, 9.6099999999999994,
9.2699999999999996, 8.9199999999999999, 8.5700000000000003, 8.2300000000000004,
7.8799999999999999, 7.54, 7.1799999999999997, 6.8399999999999999, 6.4699999999999998,
6.1299999999999999, 5.7800000000000002, 5.4500000000000002, 5.0899999999999999,
4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001,
1.22, 0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004,
-0.92000000000000004, -1.25, -1.6299999999999999, -1.98, -2.3100000000000001,
-2.6699999999999999, -3.04, -3.3999999999999999, -3.7400000000000002, -4.0899999999999999,
-4.4500000000000002, -4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001,
-6.21, -6.5700000000000003, -6.9100000000000001, -7.25, -7.6200000000000001,
-7.9500000000000002, -8.3000000000000007, -8.6500000000000004, -9.0099999999999998,
-9.3499999999999996, -9.6899999999999995, -10.050000000000001, -10.390000000000001, -10.74,
-11.09, -11.42, -11.77, -12.109999999999999, -12.449999999999999, -12.800000000000001,
-13.140000000000001, -13.470000000000001, -13.81, -14.15, -14.48, -14.82, -15.130000000000001,
-15.470000000000001, -15.81, -16.149999999999999, -16.48, -16.800000000000001,
-17.149999999999999, -17.48, -17.789999999999999, -18.120000000000001, -18.469999999999999,
-18.77, -19.09, -19.420000000000002, -19.73, -20.059999999999999, -20.359999999999999,
-20.690000000000001, -21, -21.32, -21.620000000000001, -21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
},
"calibration_status":
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
},
"lidar_intrinsics":
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
},
"imu_intrinsics":
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001, 0, 1, 0, -11.775, 0,
0, 1, 7.6449999999999996, 0, 0, 0, 1]
},
"lidar_data_format":
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024
}
}
curl
curl -i http://169.254.198.184/api/v1/sensor/metadata --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 6675
{
"config_params":
{
"signal_multiplier": 1,
"udp_dest": "169.254.175.254",
"multipurpose_io_mode": "OFF",
"udp_port_lidar": 7502,
"nmea_leap_seconds": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"lidar_mode": "1024x10",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"nmea_ignore_valid_char": 0,
"udp_profile_imu": "LEGACY",
"sync_pulse_out_frequency": 1,
"operating_mode": "NORMAL",
"udp_ip": "169.254.175.254",
"columns_per_packet": 16,
"nmea_baud_rate": "BAUD_9600",
"phase_lock_enable": false,
"azimuth_window": [90000, 270000],
"udp_port_imu": 7503,
"sync_pulse_out_angle": 360,
"auto_start_flag": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"phase_lock_offset": 0,
"sync_pulse_in_polarity": "ACTIVE_HIGH"
},
"sensor_info":
{
"image_rev": "ousteros-image-prod-aries-v2.3.0-rc.1+20220319004702.staging",
"build_rev": "v2.3.0-rc.1",
"prod_sn": "992139000666",
"initialization_id": 5431287,
"base_sn": "",
"build_date": "2022-03-18T20:00:29Z",
"prod_pn": "840-103575-06",
"prod_line": "OS-1-128",
"proto_rev": "",
"status": "RUNNING",
"base_pn": ""
},
"beam_intrinsics":
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999,
-4.21, 4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998,
4.2300000000000004, 1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004,
1.4199999999999999, -1.3999999999999999, -4.2000000000000002, 4.2300000000000004,
1.4099999999999999, -1.3899999999999999, -4.21, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999,
-1.3999999999999999, -4.2300000000000004, 4.2599999999999998, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4199999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.3899999999999999,
-4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999, -4.2300000000000004,
4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4399999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4299999999999999, -1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2199999999999998, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999, -4.2400000000000002,
4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25,
4.2599999999999998, 1.4299999999999999, -1.4099999999999999, -4.2599999999999998,
4.2599999999999998, 1.4199999999999999, -1.4199999999999999, -4.2599999999999998, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999, 20.420000000000002,
20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001,
17.27, 16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34,
15.01, 14.67, 14.35, 14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33,
10.98, 10.640000000000001, 10.279999999999999, 9.9499999999999993, 9.6099999999999994,
9.2699999999999996, 8.9199999999999999, 8.5700000000000003, 8.2300000000000004,
7.8799999999999999, 7.54, 7.1799999999999997, 6.8399999999999999, 6.4699999999999998,
6.1299999999999999, 5.7800000000000002, 5.4500000000000002, 5.0899999999999999,
4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001,
1.22, 0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004,
-0.92000000000000004, -1.25, -1.6299999999999999, -1.98, -2.3100000000000001,
-2.6699999999999999, -3.04, -3.3999999999999999, -3.7400000000000002, -4.0899999999999999,
-4.4500000000000002, -4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001,
-6.21, -6.5700000000000003, -6.9100000000000001, -7.25, -7.6200000000000001,
-7.9500000000000002, -8.3000000000000007, -8.6500000000000004, -9.0099999999999998,
-9.3499999999999996, -9.6899999999999995, -10.050000000000001, -10.390000000000001, -10.74,
-11.09, -11.42, -11.77, -12.109999999999999, -12.449999999999999, -12.800000000000001,
-13.140000000000001, -13.470000000000001, -13.81, -14.15, -14.48, -14.82, -15.130000000000001,
-15.470000000000001, -15.81, -16.149999999999999, -16.48, -16.800000000000001,
-17.149999999999999, -17.48, -17.789999999999999, -18.120000000000001, -18.469999999999999,
-18.77, -19.09, -19.420000000000002, -19.73, -20.059999999999999, -20.359999999999999,
-20.690000000000001, -21, -21.32, -21.620000000000001, -21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
},
"calibration_status":
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
},
"lidar_intrinsics":
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
},
"imu_intrinsics":
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001, 0, 1, 0, -11.775, 0,
0, 1, 7.6449999999999996, 0, 0, 0, 1]
},
"lidar_data_format":
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024
}
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 6675
{
"config_params":
{
"signal_multiplier": 1,
"udp_dest": "169.254.175.254",
"multipurpose_io_mode": "OFF",
"udp_port_lidar": 7502,
"nmea_leap_seconds": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"lidar_mode": "1024x10",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"nmea_ignore_valid_char": 0,
"udp_profile_imu": "LEGACY",
"sync_pulse_out_frequency": 1,
"operating_mode": "NORMAL",
"udp_ip": "169.254.175.254",
"columns_per_packet": 16,
"nmea_baud_rate": "BAUD_9600",
"phase_lock_enable": false,
"azimuth_window": [90000, 270000],
"udp_port_imu": 7503,
"sync_pulse_out_angle": 360,
"auto_start_flag": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"phase_lock_offset": 0,
"sync_pulse_in_polarity": "ACTIVE_HIGH"
},
"sensor_info":
{
"image_rev": "ousteros-image-prod-aries-v2.3.0-rc.1+20220319004702.staging",
"build_rev": "v2.3.0-rc.1",
"prod_sn": "992139000666",
"initialization_id": 5431287,
"base_sn": "",
"build_date": "2022-03-18T20:00:29Z",
"prod_pn": "840-103575-06",
"prod_line": "OS-1-128",
"proto_rev": "",
"status": "RUNNING",
"base_pn": ""
},
"beam_intrinsics":
{
"beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999,
-4.21, 4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998,
4.2300000000000004, 1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004,
1.4199999999999999, -1.3999999999999999, -4.2000000000000002, 4.2300000000000004,
1.4099999999999999, -1.3899999999999999, -4.21, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,
-1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999,
-1.3999999999999999, -4.2300000000000004, 4.2599999999999998, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4399999999999999,
-1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4199999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.3899999999999999,
-4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999, -4.2300000000000004,
4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,
4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,
1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4399999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,
1.4299999999999999, -1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999,
-1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.4199999999999999,
-4.2199999999999998, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999, -4.2400000000000002,
4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,
1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,
-1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999,
-1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999,
-4.2400000000000002, 4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25,
4.2599999999999998, 1.4299999999999999, -1.4099999999999999, -4.2599999999999998,
4.2599999999999998, 1.4199999999999999, -1.4199999999999999, -4.2599999999999998, 4.25,
1.4199999999999999, -1.4199999999999999, -4.2699999999999996],
"beam_altitude_angles": [21.010000000000002, 20.719999999999999, 20.420000000000002,
20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,
18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001,
17.27, 16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34,
15.01, 14.67, 14.35, 14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33,
10.98, 10.640000000000001, 10.279999999999999, 9.9499999999999993, 9.6099999999999994,
9.2699999999999996, 8.9199999999999999, 8.5700000000000003, 8.2300000000000004,
7.8799999999999999, 7.54, 7.1799999999999997, 6.8399999999999999, 6.4699999999999998,
6.1299999999999999, 5.7800000000000002, 5.4500000000000002, 5.0899999999999999,
4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,
3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001,
1.22, 0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004,
-0.92000000000000004, -1.25, -1.6299999999999999, -1.98, -2.3100000000000001,
-2.6699999999999999, -3.04, -3.3999999999999999, -3.7400000000000002, -4.0899999999999999,
-4.4500000000000002, -4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001,
-6.21, -6.5700000000000003, -6.9100000000000001, -7.25, -7.6200000000000001,
-7.9500000000000002, -8.3000000000000007, -8.6500000000000004, -9.0099999999999998,
-9.3499999999999996, -9.6899999999999995, -10.050000000000001, -10.390000000000001, -10.74,
-11.09, -11.42, -11.77, -12.109999999999999, -12.449999999999999, -12.800000000000001,
-13.140000000000001, -13.470000000000001, -13.81, -14.15, -14.48, -14.82, -15.130000000000001,
-15.470000000000001, -15.81, -16.149999999999999, -16.48, -16.800000000000001,
-17.149999999999999, -17.48, -17.789999999999999, -18.120000000000001, -18.469999999999999,
-18.77, -19.09, -19.420000000000002, -19.73, -20.059999999999999, -20.359999999999999,
-20.690000000000001, -21, -21.32, -21.620000000000001, -21.940000000000001],
"lidar_origin_to_beam_origin_mm": 15.805999999999999
},
"calibration_status":
{
"reflectivity":
{
"timestamp": "2021-10-05T00:02:36",
"valid": true
}
},
"lidar_intrinsics":
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]
},
"imu_intrinsics":
{
"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001, 0, 1, 0, -11.775, 0,
0, 1, 7.6449999999999996, 0, 0, 0, 1]
},
"lidar_data_format":
{
"column_window": [256, 768],
"pixel_shift_by_row": [24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,
8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0],
"columns_per_packet": 16,
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",
"udp_profile_imu": "LEGACY",
"pixels_per_column": 128,
"columns_per_frame": 1024
}
}' | http http://169.254.198.184/api/v1/sensor/metadata
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/metadata', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 6675\r\n\n {\r\n\n "config_params":\r\n\n {\r\n\n "signal_multiplier": 1,\r\n\n "udp_dest": "169.254.175.254",\r\n\n "multipurpose_io_mode": "OFF",\r\n\n "udp_port_lidar": 7502,\r\n\n "nmea_leap_seconds": 0,\r\n\n "nmea_in_polarity": "ACTIVE_HIGH",\r\n\n "sync_pulse_out_pulse_width": 10,\r\n\n "timestamp_mode": "TIME_FROM_INTERNAL_OSC",\r\n\n "lidar_mode": "1024x10",\r\n\n "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",\r\n\n "nmea_ignore_valid_char": 0,\r\n\n "udp_profile_imu": "LEGACY",\r\n\n "sync_pulse_out_frequency": 1,\r\n\n "operating_mode": "NORMAL",\r\n\n "udp_ip": "169.254.175.254",\r\n\n "columns_per_packet": 16,\r\n\n "nmea_baud_rate": "BAUD_9600",\r\n\n "phase_lock_enable": false,\r\n\n "azimuth_window": [90000, 270000],\r\n\n "udp_port_imu": 7503,\r\n\n "sync_pulse_out_angle": 360,\r\n\n "auto_start_flag": 1,\r\n\n "sync_pulse_out_polarity": "ACTIVE_HIGH",\r\n\n "phase_lock_offset": 0,\r\n\n "sync_pulse_in_polarity": "ACTIVE_HIGH"\r\n\n },\r\n\n "sensor_info":\r\n\n {\r\n\n "image_rev": "ousteros-image-prod-aries-v2.3.0-rc.1+20220319004702.staging",\r\n\n "build_rev": "v2.3.0-rc.1",\r\n\n "prod_sn": "992139000666",\r\n\n "initialization_id": 5431287,\r\n\n "base_sn": "",\r\n\n "build_date": "2022-03-18T20:00:29Z",\r\n\n "prod_pn": "840-103575-06",\r\n\n "prod_line": "OS-1-128",\r\n\n "proto_rev": "",\r\n\n "status": "RUNNING",\r\n\n "base_pn": ""\r\n\n },\r\n\n "beam_intrinsics":\r\n\n {\r\n\n "beam_azimuth_angles": [4.2300000000000004, 1.4099999999999999, -1.3999999999999999,\r\n\n -4.21, 4.2199999999999998, 1.4199999999999999, -1.4099999999999999, -4.2199999999999998,\r\n\n 4.2300000000000004, 1.4099999999999999, -1.4199999999999999, -4.21, 4.2300000000000004,\r\n\n 1.4199999999999999, -1.3999999999999999, -4.2000000000000002, 4.2300000000000004,\r\n\n 1.4099999999999999, -1.3899999999999999, -4.21, 4.25, 1.4299999999999999,\r\n\n -1.4099999999999999, -4.2199999999999998, 4.2400000000000002, 1.4399999999999999,\r\n\n -1.4099999999999999, -4.2199999999999998, 4.2300000000000004, 1.4199999999999999,\r\n\n -1.3799999999999999, -4.2199999999999998, 4.2400000000000002, 1.4199999999999999,\r\n\n -1.3999999999999999, -4.2300000000000004, 4.2599999999999998, 1.4399999999999999,\r\n\n -1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4399999999999999,\r\n\n -1.4099999999999999, -4.2300000000000004, 4.2400000000000002, 1.4199999999999999,\r\n\n -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.3899999999999999,\r\n\n -4.2199999999999998, 4.25, 1.4099999999999999, -1.3999999999999999, -4.2300000000000004,\r\n\n 4.2400000000000002, 1.4299999999999999, -1.4099999999999999, -4.2300000000000004,\r\n\n 4.2400000000000002, 1.4199999999999999, -1.4099999999999999, -4.2300000000000004, 4.25,\r\n\n 1.4199999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,\r\n\n 1.4399999999999999, -1.3999999999999999, -4.2400000000000002, 4.2400000000000002,\r\n\n 1.4299999999999999, -1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999,\r\n\n -1.4099999999999999, -4.2400000000000002, 4.25, 1.4199999999999999, -1.4199999999999999,\r\n\n -4.2199999999999998, 4.2400000000000002, 1.4299999999999999, -1.3999999999999999,\r\n\n -4.2400000000000002, 4.25, 1.4399999999999999, -1.4099999999999999, -4.2400000000000002,\r\n\n 4.25, 1.4199999999999999, -1.4099999999999999, -4.2400000000000002, 4.25,\r\n\n 1.4199999999999999, -1.4099999999999999, -4.25, 4.2599999999999998, 1.4299999999999999,\r\n\n -1.4099999999999999, -4.2599999999999998, 4.2699999999999996, 1.4299999999999999,\r\n\n -1.3999999999999999, -4.2400000000000002, 4.25, 1.4299999999999999, -1.3999999999999999,\r\n\n -4.2400000000000002, 4.2599999999999998, 1.4199999999999999, -1.3999999999999999, -4.25,\r\n\n 4.2599999999999998, 1.4299999999999999, -1.4099999999999999, -4.2599999999999998,\r\n\n 4.2599999999999998, 1.4199999999999999, -1.4199999999999999, -4.2599999999999998, 4.25,\r\n\n 1.4199999999999999, -1.4199999999999999, -4.2699999999999996],\r\n\n "beam_altitude_angles": [21.010000000000002, 20.719999999999999, 20.420000000000002,\r\n\n 20.100000000000001, 19.789999999999999, 19.48, 19.170000000000002, 18.84,\r\n\n 18.550000000000001, 18.219999999999999, 17.899999999999999, 17.600000000000001,\r\n\n 17.27, 16.960000000000001, 16.649999999999999, 16.32, 15.970000000000001, 15.65, 15.34,\r\n\n 15.01, 14.67, 14.35, 14.01, 13.68, 13.33, 13.02, 12.67, 12.34, 11.99, 11.65, 11.33,\r\n\n 10.98, 10.640000000000001, 10.279999999999999, 9.9499999999999993, 9.6099999999999994,\r\n\n 9.2699999999999996, 8.9199999999999999, 8.5700000000000003, 8.2300000000000004,\r\n\n 7.8799999999999999, 7.54, 7.1799999999999997, 6.8399999999999999, 6.4699999999999998,\r\n\n 6.1299999999999999, 5.7800000000000002, 5.4500000000000002, 5.0899999999999999,\r\n\n 4.7300000000000004, 4.4100000000000001, 4.0499999999999998, 3.6899999999999999,\r\n\n 3.3199999999999998, 2.98, 2.6299999999999999, 2.27, 1.9299999999999999, 1.5700000000000001,\r\n\n 1.22, 0.84999999999999998, 0.5, 0.14999999999999999, -0.19, -0.55000000000000004,\r\n\n -0.92000000000000004, -1.25, -1.6299999999999999, -1.98, -2.3100000000000001,\r\n\n -2.6699999999999999, -3.04, -3.3999999999999999, -3.7400000000000002, -4.0899999999999999,\r\n\n -4.4500000000000002, -4.7999999999999998, -5.1500000000000004, -5.5, -5.8700000000000001,\r\n\n -6.21, -6.5700000000000003, -6.9100000000000001, -7.25, -7.6200000000000001,\r\n\n -7.9500000000000002, -8.3000000000000007, -8.6500000000000004, -9.0099999999999998,\r\n\n -9.3499999999999996, -9.6899999999999995, -10.050000000000001, -10.390000000000001, -10.74,\r\n\n -11.09, -11.42, -11.77, -12.109999999999999, -12.449999999999999, -12.800000000000001,\r\n\n -13.140000000000001, -13.470000000000001, -13.81, -14.15, -14.48, -14.82, -15.130000000000001,\r\n\n -15.470000000000001, -15.81, -16.149999999999999, -16.48, -16.800000000000001,\r\n\n -17.149999999999999, -17.48, -17.789999999999999, -18.120000000000001, -18.469999999999999,\r\n\n -18.77, -19.09, -19.420000000000002, -19.73, -20.059999999999999, -20.359999999999999,\r\n\n -20.690000000000001, -21, -21.32, -21.620000000000001, -21.940000000000001],\r\n\n "lidar_origin_to_beam_origin_mm": 15.805999999999999\r\n\n },\r\n\n "calibration_status":\r\n\n {\r\n\n "reflectivity":\r\n\n {\r\n\n "timestamp": "2021-10-05T00:02:36",\r\n\n "valid": true\r\n\n }\r\n\n },\r\n\n "lidar_intrinsics":\r\n\n {\r\n\n "lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]\r\n\n },\r\n\n "imu_intrinsics":\r\n\n {\r\n\n "imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001, 0, 1, 0, -11.775, 0,\r\n\n 0, 1, 7.6449999999999996, 0, 0, 0, 1]\r\n\n },\r\n\n "lidar_data_format":\r\n\n {\r\n\n "column_window": [256, 768],\r\n\n "pixel_shift_by_row": [24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16,\r\n\n 8, 0, 24, 16, 8, 0, 24, 16, 8, 0, 24, 16, 8, 0],\r\n\n "columns_per_packet": 16,\r\n\n "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL",\r\n\n "udp_profile_imu": "LEGACY",\r\n\n "pixels_per_column": 128,\r\n\n "columns_per_frame": 1024\r\n\n }\r\n\n }')
- status code 200
No error
System
GET /api/v1/system/firmware
-
GET192.0.2.123/api/v1/system/firmware Get the firmware version of the sensor
http
GET /api/v1/system/firmware HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/firmware
httpie
http http://192.0.2.123/api/v1/system/firmware
python-requests
requests.get('http://192.0.2.123/api/v1/system/firmware')
response
HTTP/1.1 200 OK
Host: 192.0.2.123
content-type: application/json; charset=UTF-8
{
"fw": "ousteros-image-prod-aries-v2.0.0"
}
- >json string fw
Running firmware image name and version.
- statuscode 200
No error
GET /api/v1/system/network
-
GET192.0.2.123/api/v1/system/network Get the system network configuration.
http
GET /api/v1/system/network HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network
httpie
http http://192.0.2.123/api/v1/system/network
python-requests
requests.get('http://192.0.2.123/api/v1/system/network')
response
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"carrier": true,
"duplex": "full",
"ethaddr": "bc:0f:a7:00:01:2c",
"hostname": "os-991900123456",
"ipv4": {
"addr": "192.0.2.123/24",
"link_local": "169.254.245.183/16",
"override": null
},
"ipv6": {
"link_local": "fe80::be0f:a7ff:fe00:12c/64"
},
"speed": 1000
}
- >json boolean carrier
State of Ethernet link,
truewhen physical layer is connected.- >json string duplex
Duplex mode of Ethernet link,
halforfull.- >json string ethaddr
Ethernet hardware (MAC) address.
- >json string hostname
Hostname of the sensor, also used when requesting DHCP address and registering mDNS hostname.
- >json object ipv4
See ipv4 object
- >json string ipv6.link_local
Link-local IPv6 address.
- >json integer speed
Ethernet physical layer speed in Mbps, should be 1000 Mbps.
- statuscode 200
No error
GET /api/v1/system/network/ipv4
-
GET192.0.2.123/api/v1/system/network/ipv4 Get the IPv4 network configuration.
http
GET /api/v1/system/network/ipv4 HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network/ipv4
httpie
http http://192.0.2.123/api/v1/system/network/ipv4
python-requests
requests.get('http://192.0.2.123/api/v1/system/network/ipv4')
response
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"addr": "192.0.2.123/23",
"link_local": "169.254.245.183/16",
"override": null
}
- >json string addr
Current global or private IPv4 address.
- >json string link_local
Link-local IPv4 address.
- >json string override
Static IP override value, this should match
addr. This value will benullwhen unset and operating in DHCP or link-local modes.- statuscode 200
No error
GET /api/v1/system/network/ipv4/override
-
GET192.0.2.123/api/v1/system/network/ipv4/override Get the current IPv4 static IP address override.
http
GET /api/v1/system/network/ipv4/override HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network/ipv4/override
httpie
http http://192.0.2.123/api/v1/system/network/ipv4/override
python-requests
requests.get('http://192.0.2.123/api/v1/system/network/ipv4/override')
response
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
null
- >json string
Static IP override value, this should match
addr. This value will benullwhen unset and operating in DHCP mode.- statuscode 200
No error
PUT /api/v1/system/network/ipv4/override
-
PUT192.0.2.123/api/v1/system/network/ipv4/override Override the default dynamic behavior and set a static IP address.
Note
The sensor will reset the network configuration after a short sub second delay (to allow for the HTTP response to be sent). After this delay the sensor will only be reachable on the newly set IPv4 address.
The sensor needs to be reachable either by link-local or dynamic DHCP configuration or by an existing static IP override from the host reconfiguring the sensor.
Warning
If an unreachable network address is set, the sensor will become unreachable. Tools such as avahi-browse, dns-sd, or mDNS browser can help with finding a sensor on a network.
Static IP override should only be used in special use cases. The link-local configuration is recommended where possible.
http
PUT /api/v1/system/network/ipv4/override HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
"192.0.2.100/24"
curl
curl -i -X PUT http://192.0.2.123/api/v1/system/network/ipv4/override -H 'Content-Type: application/json' --data-raw '"192.0.2.100/24"'
httpie
echo '"192.0.2.100/24"' | http PUT http://192.0.2.123/api/v1/system/network/ipv4/override Content-Type:application/json
python-requests
requests.put('http://192.0.2.123/api/v1/system/network/ipv4/override', headers={'Content-Type': 'application/json'}, json='192.0.2.100/24')
- <json string
Static IP override value with subnet mask
- >json string
Static IP override value that system will set after a short delay.
- statuscode 200
No error
DELETE /api/v1/system/network/ipv4/override
-
DELETE192.0.2.123/api/v1/system/network/ipv4/override Delete the static IP override value and return to dynamic configuration.
Note
The sensor will reset the network configuration after a short sub second delay (to allow for the HTTP response to be sent). After this delay the sensor will only be reachable on the newly set IPv4 address.
The sensor may be unreachable for several seconds while a link-local lease is obtained from the network or client machine.
http
DELETE /api/v1/system/network/ipv4/override HTTP/1.1
Host: 192.0.2.123
curl
curl -i -X DELETE http://192.0.2.123/api/v1/system/network/ipv4/override
httpie
http DELETE http://192.0.2.123/api/v1/system/network/ipv4/override
python-requests
requests.delete('http://192.0.2.123/api/v1/system/network/ipv4/override')
- statuscode 204
No error, no content
Time
GET /api/v1/time
-
GET192.0.2.123/api/v1/time Get the system time configuration for all timing components of the sensor.
http
GET /api/v1/time HTTP/1.1
Host: 192.0.2.123
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"ptp": {
"current_data_set": {
"mean_path_delay": 0.0,
"offset_from_master": 0.0,
"steps_removed": 0
},
"parent_data_set": {
"gm_clock_accuracy": 254,
"gm_clock_class": 255,
"gm_offset_scaled_log_variance": 65535,
"grandmaster_identity": "bc0fa7.fffe.003aa6",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "bc0fa7.fffe.003aa6-0",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.003aa6-1",
"port_state": "LISTENING",
"version_number": 2
},
"profile": "default",
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 0,
"frequency_traceable": 0,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 160,
"time_traceable": 0
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0.0,
"gm_identity": "bc0fa7.fffe.003aa6",
"gm_present": false,
"gm_time_base_indicator": 0,
"ingress_time": 0,
"last_gm_phase_change": "0x0000'0000000000000000.0000",
"master_offset": 0,
"scaled_last_gm_phase_change": 0
}
},
"sensor": {
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 311.36525506,
"time_options": {
"internal_osc": 311,
"ptp_1588": 320,
"sync_pulse_in": 1
}
}
},
"system": {
"monotonic": 320.78890018,
"realtime": 320.788918614,
"tracking": {
"frequency": 3.943,
"last_offset": 0.0,
"leap_status": "not synchronised",
"ref_time_utc": 0.0,
"reference_id": "00000000",
"remote_host": "",
"residual_frequency": 0.0,
"rms_offset": 0.0,
"root_delay": 1.0,
"root_dispersion": 1.0,
"skew": 0.0,
"stratum": 0,
"system_time_offset": -1e-09,
"update_interval": 0.0
}
}
}
curl
curl -i http://nohost/api/v1/time --data-raw 'HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"ptp": {
"current_data_set": {
"mean_path_delay": 0.0,
"offset_from_master": 0.0,
"steps_removed": 0
},
"parent_data_set": {
"gm_clock_accuracy": 254,
"gm_clock_class": 255,
"gm_offset_scaled_log_variance": 65535,
"grandmaster_identity": "bc0fa7.fffe.003aa6",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "bc0fa7.fffe.003aa6-0",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.003aa6-1",
"port_state": "LISTENING",
"version_number": 2
},
"profile": "default",
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 0,
"frequency_traceable": 0,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 160,
"time_traceable": 0
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0.0,
"gm_identity": "bc0fa7.fffe.003aa6",
"gm_present": false,
"gm_time_base_indicator": 0,
"ingress_time": 0,
"last_gm_phase_change": "0x0000'0000000000000000.0000",
"master_offset": 0,
"scaled_last_gm_phase_change": 0
}
},
"sensor": {
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 311.36525506,
"time_options": {
"internal_osc": 311,
"ptp_1588": 320,
"sync_pulse_in": 1
}
}
},
"system": {
"monotonic": 320.78890018,
"realtime": 320.788918614,
"tracking": {
"frequency": 3.943,
"last_offset": 0.0,
"leap_status": "not synchronised",
"ref_time_utc": 0.0,
"reference_id": "00000000",
"remote_host": "",
"residual_frequency": 0.0,
"rms_offset": 0.0,
"root_delay": 1.0,
"root_dispersion": 1.0,
"skew": 0.0,
"stratum": 0,
"system_time_offset": -1e-09,
"update_interval": 0.0
}
}
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"ptp": {
"current_data_set": {
"mean_path_delay": 0.0,
"offset_from_master": 0.0,
"steps_removed": 0
},
"parent_data_set": {
"gm_clock_accuracy": 254,
"gm_clock_class": 255,
"gm_offset_scaled_log_variance": 65535,
"grandmaster_identity": "bc0fa7.fffe.003aa6",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "bc0fa7.fffe.003aa6-0",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.003aa6-1",
"port_state": "LISTENING",
"version_number": 2
},
"profile": "default",
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 0,
"frequency_traceable": 0,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 160,
"time_traceable": 0
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0.0,
"gm_identity": "bc0fa7.fffe.003aa6",
"gm_present": false,
"gm_time_base_indicator": 0,
"ingress_time": 0,
"last_gm_phase_change": "0x0000'"'"'0000000000000000.0000",
"master_offset": 0,
"scaled_last_gm_phase_change": 0
}
},
"sensor": {
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 311.36525506,
"time_options": {
"internal_osc": 311,
"ptp_1588": 320,
"sync_pulse_in": 1
}
}
},
"system": {
"monotonic": 320.78890018,
"realtime": 320.788918614,
"tracking": {
"frequency": 3.943,
"last_offset": 0.0,
"leap_status": "not synchronised",
"ref_time_utc": 0.0,
"reference_id": "00000000",
"remote_host": "",
"residual_frequency": 0.0,
"rms_offset": 0.0,
"root_delay": 1.0,
"root_dispersion": 1.0,
"skew": 0.0,
"stratum": 0,
"system_time_offset": -1e-09,
"update_interval": 0.0
}
}
}' | http http://nohost/api/v1/time
python-requests
requests.get('http://nohost/api/v1/time', data='HTTP/1.1 200 OK\r\n\n content-type: application/json; charset=UTF-8\r\n\n\r\n\n {\r\n\n "ptp": {\r\n\n "current_data_set": {\r\n\n "mean_path_delay": 0.0,\r\n\n "offset_from_master": 0.0,\r\n\n "steps_removed": 0\r\n\n },\r\n\n "parent_data_set": {\r\n\n "gm_clock_accuracy": 254,\r\n\n "gm_clock_class": 255,\r\n\n "gm_offset_scaled_log_variance": 65535,\r\n\n "grandmaster_identity": "bc0fa7.fffe.003aa6",\r\n\n "grandmaster_priority1": 128,\r\n\n "grandmaster_priority2": 128,\r\n\n "observed_parent_clock_phase_change_rate": 2147483647,\r\n\n "observed_parent_offset_scaled_log_variance": 65535,\r\n\n "parent_port_identity": "bc0fa7.fffe.003aa6-0",\r\n\n "parent_stats": 0\r\n\n },\r\n\n "port_data_set": {\r\n\n "announce_receipt_timeout": 3,\r\n\n "delay_mechanism": 1,\r\n\n "log_announce_interval": 1,\r\n\n "log_min_delay_req_interval": 0,\r\n\n "log_min_pdelay_req_interval": 0,\r\n\n "log_sync_interval": 0,\r\n\n "peer_mean_path_delay": 0,\r\n\n "port_identity": "bc0fa7.fffe.003aa6-1",\r\n\n "port_state": "LISTENING",\r\n\n "version_number": 2\r\n\n },\r\n\n "profile": "default",\r\n\n "time_properties_data_set": {\r\n\n "current_utc_offset": 37,\r\n\n "current_utc_offset_valid": 0,\r\n\n "frequency_traceable": 0,\r\n\n "leap59": 0,\r\n\n "leap61": 0,\r\n\n "ptp_timescale": 1,\r\n\n "time_source": 160,\r\n\n "time_traceable": 0\r\n\n },\r\n\n "time_status_np": {\r\n\n "cumulative_scaled_rate_offset": 0.0,\r\n\n "gm_identity": "bc0fa7.fffe.003aa6",\r\n\n "gm_present": false,\r\n\n "gm_time_base_indicator": 0,\r\n\n "ingress_time": 0,\r\n\n "last_gm_phase_change": "0x0000\'0000000000000000.0000",\r\n\n "master_offset": 0,\r\n\n "scaled_last_gm_phase_change": 0\r\n\n }\r\n\n },\r\n\n "sensor": {\r\n\n "multipurpose_io": {\r\n\n "mode": "OFF",\r\n\n "nmea": {\r\n\n "baud_rate": "BAUD_9600",\r\n\n "diagnostics": {\r\n\n "decoding": {\r\n\n "date_decoded_count": 0,\r\n\n "last_read_message": "",\r\n\n "not_valid_count": 0,\r\n\n "utc_decoded_count": 0\r\n\n },\r\n\n "io_checks": {\r\n\n "bit_count": 1,\r\n\n "bit_count_unfiltered": 0,\r\n\n "char_count": 0,\r\n\n "start_char_count": 0\r\n\n }\r\n\n },\r\n\n "ignore_valid_char": 0,\r\n\n "leap_seconds": 0,\r\n\n "locked": 0,\r\n\n "polarity": "ACTIVE_HIGH"\r\n\n },\r\n\n "sync_pulse_out": {\r\n\n "angle_deg": 360,\r\n\n "frequency_hz": 1,\r\n\n "polarity": "ACTIVE_HIGH",\r\n\n "pulse_width_ms": 10\r\n\n }\r\n\n },\r\n\n "sync_pulse_in": {\r\n\n "diagnostics": {\r\n\n "count": 1,\r\n\n "count_unfiltered": 0,\r\n\n "last_period_nsec": 0\r\n\n },\r\n\n "locked": 0,\r\n\n "polarity": "ACTIVE_HIGH"\r\n\n },\r\n\n "timestamp": {\r\n\n "mode": "TIME_FROM_INTERNAL_OSC",\r\n\n "time": 311.36525506,\r\n\n "time_options": {\r\n\n "internal_osc": 311,\r\n\n "ptp_1588": 320,\r\n\n "sync_pulse_in": 1\r\n\n }\r\n\n }\r\n\n},\r\n\n"system": {\r\n\n "monotonic": 320.78890018,\r\n\n "realtime": 320.788918614,\r\n\n "tracking": {\r\n\n "frequency": 3.943,\r\n\n "last_offset": 0.0,\r\n\n "leap_status": "not synchronised",\r\n\n "ref_time_utc": 0.0,\r\n\n "reference_id": "00000000",\r\n\n "remote_host": "",\r\n\n "residual_frequency": 0.0,\r\n\n "rms_offset": 0.0,\r\n\n "root_delay": 1.0,\r\n\n "root_dispersion": 1.0,\r\n\n "skew": 0.0,\r\n\n "stratum": 0,\r\n\n "system_time_offset": -1e-09,\r\n\n "update_interval": 0.0\r\n\n }\r\n\n }\r\n\n}')
- >json string
See sub objects for details.
- statuscode 200
No error
GET /api/v1/time/sensor
-
GET169.254.198.184/api/v1/time/sensor Get the sensor time information
http
GET /api/v1/time/sensor HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-type: application/json
content-length: 773
{
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 27784.88125111,
"time_options": {
"internal_osc": 27784,
"ptp_1588": 27795,
"sync_pulse_in": 1
}
}
}
curl
curl -i http://169.254.198.184/api/v1/time/sensor --data-raw 'HTTP/1.1 200 OK
content-type: application/json
content-length: 773
{
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 27784.88125111,
"time_options": {
"internal_osc": 27784,
"ptp_1588": 27795,
"sync_pulse_in": 1
}
}
}'
httpie
echo 'HTTP/1.1 200 OK
content-type: application/json
content-length: 773
{
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 27784.88125111,
"time_options": {
"internal_osc": 27784,
"ptp_1588": 27795,
"sync_pulse_in": 1
}
}
}' | http http://169.254.198.184/api/v1/time/sensor
python-requests
requests.get('http://169.254.198.184/api/v1/time/sensor', data='HTTP/1.1 200 OK\r\n\ncontent-type: application/json\r\n\ncontent-length: 773\r\n\n\r\n\n\r\n\n {\r\n\n "multipurpose_io": {\r\n\n "mode": "OFF",\r\n\n "nmea": {\r\n\n "baud_rate": "BAUD_9600",\r\n\n "diagnostics": {\r\n\n "decoding": {\r\n\n "date_decoded_count": 0,\r\n\n "last_read_message": "",\r\n\n "not_valid_count": 0,\r\n\n "utc_decoded_count": 0\r\n\n },\r\n\n "io_checks": {\r\n\n "bit_count": 1,\r\n\n "bit_count_unfiltered": 0,\r\n\n "char_count": 0,\r\n\n "start_char_count": 0\r\n\n }\r\n\n },\r\n\n "ignore_valid_char": 0,\r\n\n "leap_seconds": 0,\r\n\n "locked": 0,\r\n\n "polarity": "ACTIVE_HIGH"\r\n\n },\r\n\n "sync_pulse_out": {\r\n\n "angle_deg": 360,\r\n\n "frequency_hz": 1,\r\n\n "polarity": "ACTIVE_HIGH",\r\n\n "pulse_width_ms": 10\r\n\n }\r\n\n },\r\n\n "sync_pulse_in": {\r\n\n "diagnostics": {\r\n\n "count": 1,\r\n\n "count_unfiltered": 0,\r\n\n "last_period_nsec": 0\r\n\n },\r\n\n "locked": 0,\r\n\n "polarity": "ACTIVE_HIGH"\r\n\n },\r\n\n "timestamp": {\r\n\n "mode": "TIME_FROM_INTERNAL_OSC",\r\n\n "time": 27784.88125111,\r\n\n "time_options": {\r\n\n "internal_osc": 27784,\r\n\n "ptp_1588": 27795,\r\n\n "sync_pulse_in": 1\r\n\n }\r\n\n }\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted sensor timing configuration and status of udp
timestamp,sync_pulse_in, andmultipurpose_io. For more information on these parameters refer to theget_time_infoTCP command.
GET /api/v1/time/system
-
GET192.0.2.123/api/v1/time/system Get the operating system time status. These values relate to the sensor operating system clocks, and not clocks related to hardware timestamp data from the lidar sensor.
http
GET /api/v1/time/system HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/system
httpie
http http://192.0.2.123/api/v1/time/system
python-requests
requests.get('http://192.0.2.123/api/v1/time/system')
response
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"monotonic": 345083.599570944,
"realtime": 1551814510.730453,
"tracking": {
"frequency": -6.185,
"last_offset": -3.315e-06,
"leap_status": "normal",
"ref_time_utc": 1551814508.1982567,
"reference_id": "70747000",
"remote_host": "ptp",
"residual_frequency": -0.019,
"rms_offset": 4.133e-06,
"root_delay": 1e-09,
"root_dispersion": 0.000128737,
"skew": 1.14,
"stratum": 1,
"system_time_offset": 4.976e-06,
"update_interval": 2
}
}
- >json float monotonic
Monotonic time of operating system. This timestamp never counts backwards and is the time since boot in seconds.
- >json float realtime
Time in seconds since the Unix epoch, should match wall time if synchronized with external time source.
- >json object tracking
Operating system time synchronization tracking status. See chronyc tracking documentation for more information.
- statuscode 200
No error
System
trackingfields of interest:- rms_offset
Long-term average of the offset value.
- system_time_offset
Time delta (in seconds) between the estimate of the operating system time and the current true time.
- last_offset
Estimated local offset on the last clock update.
- ref_time_utc
UTC Time at which the last measurement from the reference source was processed.
- remote_host
This is either
ptpif the system is synchronizing to a PTP time source or the address of a remote NTP server the system has selected if the sensor is connected to the Internet.
GET /api/v1/time/ptp
-
GET192.0.2.123/api/v1/time/ptp Get the status of the PTP time synchronization daemon.
Note
See the IEEE 1588-2008 standard for more details on the standard management messages.
http
GET /api/v1/time/ptp HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/ptp
httpie
http http://192.0.2.123/api/v1/time/ptp
python-requests
requests.get('http://192.0.2.123/api/v1/time/ptp')
response
HTTP/1.1 200 OK
content-type: application/json; charset=UTF-8
{
"current_data_set": {
"mean_path_delay": 30110,
"offset_from_master": 224159,
"steps_removed": 1
},
"parent_data_set": {
"gm_clock_accuracy": 33,
"gm_clock_class": 6,
"gm_offset_scaled_log_variance": 20061,
"grandmaster_identity": "001747.fffe.700038",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "001747.fffe.700038-1",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.00012c-1",
"port_state": "SLAVE",
"version_number": 2
},
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 1,
"frequency_traceable": 1,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 32,
"time_traceable": 1
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0,
"gm_identity": "001747.fffe.700038",
"gm_present": true,
"gm_time_base_indicator": 0,
"ingress_time": 1551814546772493800,
"last_gm_phase_change": "0x0000'0000000000000000.0000",
"master_offset": 224159,
"scaled_last_gm_phase_change": 0
}
}
- >json object current_data_set
Result of the PMC
GET CURRENT_DATA_SETcommand.- >json object parent_data_set
Result of the PMC
GET PARENT_DATA_SETcommand.- >json object port_data_set
Result of the PMC
GET PORT_DATA_SETcommand.- >json object time_properties_data_set
Result of the PMC
GET TIME_PROPERTIES_DATA_SETcommand.- >json object time_status_np
Result of the PMC
GET TIME_STATUS_NPcommand. This is a linuxptp non-portable command.- statuscode 200
No error
Fields of interest:
- current_data_set.offset_from_master
Offset from master time source in nanoseconds as calculated during the last update from master.
- parent_data_set.grandmaster_identity
This should match the local grandmaster clock. If this displays the sensor’s clock identity (derived from Ethernet hardware address) then this indicates the sensor is not properly synchronized to a grandmaster.
- parent_data_set
Various information about the selected master clock.
- port_data_set.port_state
This value will be
SLAVEwhen a remote master clock is selected. Seeparent_data_setfor selected master clock.- port_data_set
Local sensor PTP configuration values. Grandmaster clock needs to match these for proper time synchronization.
- time_properties_data_set
PTP properties as given by master clock.
- time_status_np.gm_identity
Selected grandmaster clock identity.
- time_status_np.gm_present
True when grandmaster has been detected. This may stay true even if grandmaster goes off-line. Use
port_data_set.port_stateto determine up-to-date synchronization status. When this is false then the local clock is selected.- time_status_np.ingress_time
Indicates when the last PTP message was received. Units are in nanoseconds.
- time_status_np
Linux PTP specific diagnostic values. The Red Hat manual provides some more information on these fields
GET /api/v1/time/ptp/profile
-
GET192.0.2.123/api/v1/time/ptp/profile Get the active PTP profile of the Ouster sensor
http
GET /api/v1/time/ptp/profile HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
curl
curl -i http://nohost/api/v1/time/ptp/profile
httpie
http http://nohost/api/v1/time/ptp/profile
python-requests
requests.get('http://nohost/api/v1/time/ptp/profile')
response
HTTP/1.1 200 OK
content-length: 9
content-type: application/json; charset=UTF-8
"gptp"
- >json string
Active PTP profile.
- statuscode 200
No error
PUT /api/v1/time/ptp/profile
-
PUT192.0.2.123/api/v1/time/ptp/profile Change the PTP profile of the Ouster sensor
http
PUT /api/v1/time/ptp/profile HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
"gptp"
curl
curl -i -X PUT http://nohost/api/v1/time/ptp/profile --data-raw '"gptp"'
httpie
echo '"gptp"' | http PUT http://nohost/api/v1/time/ptp/profile
python-requests
requests.put('http://nohost/api/v1/time/ptp/profile', data='"gptp"')
response
HTTP/1.1 200 OK
content-length: 9
content-type: application/json; charset=UTF-8
"gptp"
- <json string
PTP profile to be activated, valid options are
"default","gptp", and"automotive-slave"- >json string
Active PTP profile.
- statuscode 200
No error
Alerts, Diagnostics and Telemetry
GET /api/v1/sensor/alerts
-
GET169.254.198.184/api/v1/sensor/alerts Get the sensor lidar intrinsics
http
GET /api/v1/sensor/alerts HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-length: 3941
content-type: application/json
{
"active": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"log": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "87914851559"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "88906828916"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 2,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640501848"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 3,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor matches
client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640962692"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 4,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "188178225997"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 5,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "189169539737"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 6,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004145514"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 7,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004551057"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"next_cursor": 9
}
curl
curl -i http://169.254.198.184/api/v1/sensor/alerts --data-raw 'HTTP/1.1 200 OK
content-length: 3941
content-type: application/json
{
"active": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"log": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "87914851559"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "88906828916"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 2,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640501848"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 3,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor matches
client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640962692"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 4,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "188178225997"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 5,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "189169539737"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 6,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004145514"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 7,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004551057"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"next_cursor": 9
}'
httpie
echo 'HTTP/1.1 200 OK
content-length: 3941
content-type: application/json
{
"active": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"log": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "87914851559"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "88906828916"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 2,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640501848"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 3,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor matches
client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "171640962692"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 4,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "188178225997"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 5,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",
"realtime": "189169539737"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 6,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches client
IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004145514"
},
{
"active": false,
"category": "UDP_TRANSMISSION",
"cursor": 7,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Cleared by reinitialization.",
"realtime": "1293004551057"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 8,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided not reachable on
IMU data port; check that udp_dest and udp_port_imu configured on the sensor
matches client IP and port.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",
"realtime": "1309574110356"
}
],
"next_cursor": 9
}' | http http://169.254.198.184/api/v1/sensor/alerts
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/alerts', data='HTTP/1.1 200 OK\r\n\ncontent-length: 3941\r\n\ncontent-type: application/json\r\n\n\r\n\n {\r\n\n "active": [\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 8,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor\r\n\n matches client IP and port.",\r\n\n "msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",\r\n\n "realtime": "1309574110356"\r\n\n }\r\n\n ],\r\n\n "log": [\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 0,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor\r\n\n matches client IP and port.",\r\n\n "msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",\r\n\n "realtime": "87914851559"\r\n\n },\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 1,\r\n\n "id": "0x01000015",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided lidar data port;\r\n\n check that udp_dest and udp_port_lidar configured on the sensor matches client\r\n\n IP and port.",\r\n\n "msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",\r\n\n "realtime": "88906828916"\r\n\n },\r\n\n {\r\n\n "active": false,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 2,\r\n\n "id": "0x01000015",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided lidar data port;\r\n\n check that udp_dest and udp_port_lidar configured on the sensor matches client\r\n\n IP and port.",\r\n\n "msg_verbose": "Cleared by reinitialization.",\r\n\n "realtime": "171640501848"\r\n\n },\r\n\n {\r\n\n "active": false,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 3,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor matches\r\n\n client IP and port.",\r\n\n "msg_verbose": "Cleared by reinitialization.",\r\n\n "realtime": "171640962692"\r\n\n },\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 4,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor\r\n\n matches client IP and port.",\r\n\n "msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",\r\n\n "realtime": "188178225997"\r\n\n },\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 5,\r\n\n "id": "0x01000015",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided lidar data port;\r\n\n check that udp_dest and udp_port_lidar configured on the sensor matches client\r\n\n IP and port.",\r\n\n "msg_verbose": "Failed to send lidar UDP data to destination host 169.254.28.205:7502",\r\n\n "realtime": "189169539737"\r\n\n },\r\n\n {\r\n\n "active": false,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 6,\r\n\n "id": "0x01000015",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided lidar data port;\r\n\n check that udp_dest and udp_port_lidar configured on the sensor matches client\r\n\n IP and port.",\r\n\n "msg_verbose": "Cleared by reinitialization.",\r\n\n "realtime": "1293004145514"\r\n\n },\r\n\n {\r\n\n "active": false,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 7,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor\r\n\n matches client IP and port.",\r\n\n "msg_verbose": "Cleared by reinitialization.",\r\n\n "realtime": "1293004551057"\r\n\n },\r\n\n {\r\n\n "active": true,\r\n\n "category": "UDP_TRANSMISSION",\r\n\n "cursor": 8,\r\n\n "id": "0x01000018",\r\n\n "level": "WARNING",\r\n\n "msg": "Client machine announced it is not reachable on the provided not reachable on\r\n\n IMU data port; check that udp_dest and udp_port_imu configured on the sensor\r\n\n matches client IP and port.",\r\n\n "msg_verbose": "Failed to send imu UDP data to destination host 169.254.28.205:7503",\r\n\n "realtime": "1309574110356"\r\n\n }\r\n\n ],\r\n\n "next_cursor": 9\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted sensor diagnostic information. - The
loglist contains alerts when they were activated or deactivated. An optionalSTART_CURSORargument specifies where the log should start. - Theactivelist contains all currently active alerts.
GET /api/v1/diagnostics/dump
-
GET192.0.2.123/api/v1/diagnostics/dump Get the diagnostics files of the sensor
http
GET /api/v1/diagnostics/dump HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/diagnostics/dump
httpie
http http://192.0.2.123/api/v1/diagnostics/dump
python-requests
requests.get('http://192.0.2.123/api/v1/diagnostics/dump')
response
HTTP/1.1 200 OK
content-disposition: attachment; filename="192.0.2.123_diagnostics-dump_29811b9e-2afc-11eb-ae01-bc0fa700190c.bin"
content-type: application/octet-stream
{binary data}
- statuscode 200
No error
GET /api/v1/sensor/telemetry
-
GET169.254.198.184/api/v1/sensor/telemetry Get the sensor telemetry information
http
GET /api/v1/sensor/telemetry HTTP/1.1
Host: 169.254.198.184
HTTP/1.1 200 OK
content-length: 150
content-type: application/json
{
"input_current_ma": 758,
"input_voltage_mv": 23606,
"internal_temperature_deg_c": 45,
"phase_lock_status": "DISABLED",
"timestamp_ns": 2962666299310
}
curl
curl -i http://169.254.198.184/api/v1/sensor/telemetry --data-raw 'HTTP/1.1 200 OK
content-length: 150
content-type: application/json
{
"input_current_ma": 758,
"input_voltage_mv": 23606,
"internal_temperature_deg_c": 45,
"phase_lock_status": "DISABLED",
"timestamp_ns": 2962666299310
}'
httpie
echo 'HTTP/1.1 200 OK
content-length: 150
content-type: application/json
{
"input_current_ma": 758,
"input_voltage_mv": 23606,
"internal_temperature_deg_c": 45,
"phase_lock_status": "DISABLED",
"timestamp_ns": 2962666299310
}' | http http://169.254.198.184/api/v1/sensor/telemetry
python-requests
requests.get('http://169.254.198.184/api/v1/sensor/telemetry', data='HTTP/1.1 200 OK\r\n\ncontent-length: 150\r\n\ncontent-type: application/json\r\n\n\r\n\n {\r\n\n "input_current_ma": 758,\r\n\n "input_voltage_mv": 23606,\r\n\n "internal_temperature_deg_c": 45,\r\n\n "phase_lock_status": "DISABLED",\r\n\n "timestamp_ns": 2962666299310\r\n\n }')
- status code 200
No error
- Description
Returns JSON-formatted response that provides sensor system state information. This includes the FPGA Timestamp in
ns(Nanoseconds) at which the information was collected from the FPGA, Lidar Input Voltage inmv(Millivolt), Lidar Input Current inma(Milliamp), Internal Temperature of the sensor inºC(Degree Celsius) and Phase Lock status namelyLOCKED,LOST,DISABLED..
Note
Internal temperature can only be measured with Rev 06 and above sensors.
Note
Phase lock output will not indicate loss of lock if the PTP source is lost.