Sengong Intelligent utilizes the Wanji 716 series for mapping and navigation, and employs the Wanji 718 series for obstacle avoidance.
I. Configuration
When using the Wanji 716/718 series lidar, it is necessary to use the Wanji host computer for some parameter configuration, mainly the IP and port number.
Download Wanji Lidar WLR-716-V1.7.zip
To power on the lidar, connect it to the PC through the network cable. After turning on the upper computer, click the network port in the upper left corner and select "broadcast". Click "Start broadcasting" and the upper computer will automatically search for the IP of the lidar. Fill in the real IP and port of the lidar, and then click "network port - connect" to connect to the lidar.
After the lidar is connected, the lidar point cloud data and some parameter configurations can be seen on the interface. In order to use it on the Asgard intelligent controller, it is necessary to change the IP address of the lidar to network segment 192 and click "download parameters" after modification.
II. Usage
After configuring the lidar parameters as mentioned above, to use it with the controller, you need to use Sengong Intelligence's roboshop software for model configuration.
As shown in the above figure, if you are using the WanJi 716 type Lidar, please select Wanji-716-TCP and enter the port number of the IP address modified by the upper computer of Wanji. For the WanJi 718 lidar, select Wanji-718-TCP and enter the port number of the IP address modified by the Wanji host computer.
Keyword | Description | Value |
---|---|---|
id | ID of the laser connected to the controller, starting from 0 | 0 |
x | X coordinates for laser installation | Set this parameter based on the actual installation position |
y | Y coordinate of the laser installation | Set this parameter based on the actual installation position |
z | Laser mounting height | Set this parameter based on the actual installation position |
yaw | Orientation of laser mounting | Set this parameter based on the actual installation position |
step | Laser resolution | 0.17 |
miniAngle | Minimum angle of detection | Set this parameter based on the actual detection range |
maxAngle | Maximum angle detected | Set this parameter based on the actual detection range |
upside | Formal or not | Set this parameter based on the actual installation situation |
useForLocalization | Whether it is used for locating | Set this parameter based on the actual function. Default value |
ip | IP address of the laser. The default value is from |
|
port | Port used by the laser | Actual filling |
brand | Laser brand | Actual filling |
Com | Connected Com |
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