Robin W LiDAR installation Guide

Robin W LiDAR Installation Guide

Hardware Installation

Physical Setup

1. Power Requirements: Operating voltage is 9 to 34 V DC with rated power of 6W and operating current of 0.5A@12V
2. Mounting: The LiDAR has specific dimensions of 85mm × 104.8mm × 106.7mm and weighs 800g
3. Cable Connections: The Robin W uses a proprietary pluggable connector that includes:
   • Power supply
   • 1000BASE-T1 Automotive Ethernet
   • CAN-FD interface

Network Setup

1. Default IP Configuration: The initial IP address is 172.168.1.10, subnet mask is 255.255.255.0, and initial gateway is 172.168.1.1
2. Connect your computer to the same network subnet as the LiDAR
3. Test connectivity using ping to verify the connection to 172.168.1.10

Software Installation

Prerequisites

• Ubuntu 16.04, 18.04, or 20.04 (ARM or x86)
• ROS Melodic (for ROS1) or ROS2 Foxy/Galactic/Humble

Installation Steps

1. Get the SDK Package: Contact Seyond support to obtain the latest version of the SDK package
2. Install the Driver: sudo dpkg -i <package.deb>
3. For ROS1 Environment (Ubuntu 18.04 with ROS Melodic): # Start ROS roscore # Source ROS environment source /opt/ros/melodic/setup.bash # Launch the LiDAR driver roslaunch innovusion_pointcloud innovusion_points.launch device_ip:=172.168.1.10 udp_port:=8010 processed:=1
4. For ROS2 Environment: # Source ROS2 environment source /opt/ros/foxy/setup.bash # Launch via TCP (default) ros2 launch innovusion ivu_pc2.py device_ip:=172.168.1.10 lidar_port:=8010 # OR via UDP ros2 launch innovusion ivu_pc2.py device_ip:=172.168.1.10 udp_port:=8010

Viewing Point Cloud Data

Using RViz

1. Start RViz: # For ROS1 rviz # For ROS2 ros2 run rviz2 rviz2
2. Configure RViz:
   • Set Fixed Frame to “innovusion”
   • Add PointCloud2 display type
   • Set topic to “/iv_points”
   • Set style to “Points”

Web Interface (ILA)

The Robin W also includes a web-based interface:

1. Access the web interface at http://172.168.1.10:8675
2. Use Chrome browser for best compatibility
3. View real-time point clouds directly in the browser

Initial Startup

The LiDAR doesn’t have a power switch and becomes operational when power is applied. It completes initialization and generates data after 11-18 seconds

Configuration Options

• Change IP address using the SDK utilities
• Configure return modes (single/dual returns)
• Set reflectance modes (intensity/reflectivity)
• Adjust distance limitations
• Configure coordinate systems

For detailed configuration and advanced features, refer to the complete user manual. Contact Seyond support at [email protected] or (650)963-9573 for additional assistance.

Robin W LiDAR installation Guide PDF