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Cepton Sora 200, User Manual

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Cepton Sora 200 User Manual Download Page 15

SDK

Getting Started

Installation

Clone the 

Cepton SDK

.

$ git clone --recursive [email protected]:ceptontech/cepton_sdk_redist.git

$ cd cepton_sdk_redist

Windows

$ mkdir build

$ cd build

$ cmake -G "Visual Studio 14 Win64" ..

$ start "cepton_sdk_redist.sln"

Unix

$ mkdir build

$ cd build

$ cmake ..

$ make

Basic Interaction

Initialization

To start interacting with the Cepton SDK, call 

cepton_sdk_initialize

 with an 

on_event

callback.

Page 15 of 25

Summary of Contents for Sora 200

Page 1: ...SORA 200 User Guide...

Page 2: ...15 18 20 22 23 24 Table of Contents Table of Contents Revision History Warnings Specifications Getting Started CeptonViewer Data Exporter Configuration SDK ROS Accessories Troubleshooting Cables Draw...

Page 3: ...Page 3 of 25...

Page 4: ...Revision History Date Version Description 14 Nov 2017 1 0 Initial Release 2017 2018 Cepton Technologies Inc All rights reserved Page 4 of 25...

Page 5: ...Warnings The sensor is Class 1 eye safe Page 5 of 25...

Page 6: ...nes H x V 300 x 2 Output 100 Mbps Ethernet UDP Packet PPS NMEA Yes Range Resolution 2 5cm Mechanical Dimensions W x D x H 8 9cm x 6 6cm x 10cm Weight 550g Electrical Input Power 12W Input Voltage 12V...

Page 7: ...ine direction the following equations estimate mapping point density height m sensor height above ground speed m s speed perpendicular to scanline direction sweep m ground sweep distance along scanlin...

Page 8: ...and does not vibrate excessively when the sensor is powered on Connecting the Sensor Connect the sensor s power cable barrel plug to the provided 12V power supply Connect the sensor s Ethernet cable...

Page 9: ...he Cepton tools support loading PCAP network capture files for reviewing sensor data offline A PCAP file can be saved using CeptonViewer Wireshark tcpdump or any other network capture tool The PCAPNG...

Page 10: ...p will appear the first time CeptonViewer is launched Select Allow access for both private and public networks The main menu is located on the left side of the screen Select Help to bring up a basic h...

Page 11: ...e Viewer To edit coordinate transforms in the viewer 1 Open up the individual sensor menu at the bottom of the main menu Select the Transform sub menu and edit the sensor s transform 2 To save the tra...

Page 12: ...d Mouse Keyboard Mouse Keyboard Rotate View LButton Arrow Keys Translate View MButton Control LButton Control Arrow Keys Zoom View RButton Shift LButton Shift Arrow Keys Command Key Reset View Origin...

Page 13: ...ist bin osx data_exporter ARM64 cepton_sdk_redist bin linux aarch64 data_exporter Usage USAGE data_exporter OPTIONS OUTPUT_FILE DESCRIPTION Exports Cepton LIDAR data to a file FORMATS csv CSV file for...

Page 14: ...ownload the serial tool http cepton com downloads cepton_serial_redist py Install Python dependencies pip install ipaddress pyserial Connect the sensor s serial cable to the host computer using a seri...

Page 15: ...on_sdk_redist git cd cepton_sdk_redist Windows mkdir build cd build cmake G Visual Studio 14 Win64 start cepton_sdk_redist sln Unix mkdir build cd build cmake make Basic Interaction Initialization To...

Page 16: ...on_event Main code cepton_sdk_deinitialize return 0 Reference Data Timestamps If your sensor has a GPS module connected point timestamps will be based on the GPS clock otherwise they will be based on...

Page 17: ...n be empty if only one signal is detectable Some applications require the farthest return Farthest detectable signal is guaranteed to be always present in the list compare the distance of the two retu...

Page 18: ...up bash Running the demo Ensure that the sensor is powered on and connected to the host computer Launch roscore roscore In a separate terminal launch demo_single launch roslaunch cepton_ros demo_singl...

Page 19: ...h the main Troubleshooting guide If it is a ROS issue contact Cepton for support Reference Driver Nodelet The driver nodelet is a thin wrapper around the Cepton SDK It publishes sensor messages and Po...

Page 20: ...the front of the interface box Connect the sensor Ethernet cables to the Ethernet ports on the front of the interface box Connect the GPS serial cable to the serial port on the back of the interface...

Page 21: ...sensors so multiple interface boxes may be necessary Use a DB9 splitter to connect the GPS unit to both boxes Chain the Ethernet hubs together using an ethernet cable The host computer s Ethernet only...

Page 22: ...ot receiving packets in Wireshark the most likely problem is that the network interface is not assigned an IP address Check that you have followed all the steps in the Getting Started guide Sensor doe...

Page 23: ...rown RS 232 DCD GPS Pulse Input DB9 Pin 1 Yellow RS 232 RXD GPS RXD DB9 Pin 2 White RS 232 TXD DB9 Pin 3 Violet NC GPS A GPS unit can be connected to the sensor to provide GPS timestamp synchronizatio...

Page 24: ...Drawings Case Drawing http www cepton com downloads sora_200_drawing pdf CAD http www cepton com downloads sora_200 step Page 24 of 25...

Page 25: ...PROHIBITED PROPRIETARY AND CONFIDENTIAL DIMENSIONS ARE IN MM IN T OLERANCES ANGULAR MACH 0 5 BEND 1 0 DECIMAL X 25 01IN DECIMAL XX 13 005IN INTERPRET GEOMETRIC TOLERANCING PER MATERIAL FINISH SEE NOTE...

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