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Applications can be built in many ways, but there are some features that should be in most.
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Some autonomy blocks go in a certain order with the Ouster LiDAR compliance block. See How ACL
Blocks Work Together on page 37.
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Applications need a safety feature if the LiDAR cannot gather data. See LiDAR Sensor Safety on page
37.
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Configure blocks to save processing time. See Save Processing Time on page 38.
How ACL Blocks Work Together
The Autonomous Control Library (ACL) includes blocks of pre-made code to use in applications for
autonomous machines.
An autonomy application needs to satisfy perception, positioning, and navigation concepts for a
machine to work autonomously. ACL includes blocks that fall into each category.
Follow the diagram to see which ACL block works in an application. The names of the blocks appear in
the ACL drop-down within GUIDE with more descriptions. Currently, the Ouster LiDAR compliance block
is required for the other ACL perception blocks to work.
Begin with the Ouster LiDAR compliance block early in the application. Decide whether to use any of the
optional pre-processing blocks, or skip to the function blocks to manage obstacles or features. The
flowchart shows which blocks come before others and how they relate to parts of the machine. For
example, place an Obstacle Avoidance block before an Angle and curvature conversion block. Those
blocks control how the machine steers.
LiDAR Sensor Safety
It is recommended to have a safety feature in the code so the machine stops if the Ouster LiDAR
hardware cannot gather data. Safety is machine specific for autonomous applications, and this section is
not a comprehensive list of safety considerations when using LiDARs in an application.
The Ouster LiDAR compliance block captures data regularly, and the frequency depends on the Ouster
LiDAR hardware settings. Depending on the machine's requirements, the application software should
monitor the frequency of the incoming LiDAR data. If the Ouster LiDAR hardware is not capturing data at
the required frequency, the application software should detect the failure and safely stop the machine.
The Ouster LiDAR compliance block does not directly report when it has new data. This is held within the
Data_Locker block. Many of the Autonomous Control Library blocks indicate when they have processed
new data. Monitor those ACL blocks to ensure they are updating at the expected frequency.
User Manual
Ouster LiDAR
Application Recommendations
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