User's Manual

2.4 Dimensions and part marking

Figure 3: Dimensions and part marking

2.5 Operating the sensor

2.5.1 Hardware and software setup

• Connect the RPSS device to the CAN bus

• Connect the other end of the CAN bus to the PEAK PCAN USB adapter and to a power

supply (Voltage should be set between 12V and 20V and 2Amp max).

• Connect the PEAK PCAN USB adapter to a free USB port on the laptop.

• Open a Linux Bash terminal and go to the $HOME/Arrival folder

• Run the following script to initialize the Host CAN interface

• sudo ./can_bring_up.sh

• Power the RPSS device and wait for 20 seconds.

• Run the CAN Transmit GUI application

• ./tx_gui.py

2.5.2 Running Graphical User Interface

• Select A1 for the target RPSS sensor using the toggle button.

• Select the USRR sensor operating mode (USRR is the default in the dropdown list).

• Click on the “Execute transmit command” button to run the selected sensor using the

selected mode.

• Sensor activation log messages should show up in the white panel status.

• Click on the “Start visualization” button to display the sensors visualization using the

ROS/Rviz external tool. You should see point clouds detected by the red 3D box (A1

RPSS device) on the visualization.