This is a special resource to control sensors in SENSR.
You can add, delete or modify sensors via this resource.

GET§

• /settings/sensor-ext/list§

  Get the list of available config-id and config data type of a specific type of sensor.
  You need at least one algo node to get the list.

  • Parameters
    • sensor-type : The type of sensor (lidar/odom/can)
  • Return code
    • 200 OK
    • 404 NOT FOUND
  • List of the types that SENSR API supports natively
    
    
    

  Example§

  $ curl -X GET 'http://localhost:9080/settings/sensor-ext/list?sensor-type=lidar'
  ** Respond **
  [
      {
          "uid": "String",
          "name": "String",
          "topic": "String",
          "sensor": "String",
          "stack_capacity": "Int",
          "detection_radius": "Float",
          "horizontal_angle_range": "Vector2",
          "use_lidar_timestamp" : "Bool",
          "use_intensity_filtering" : "Bool",
          "minimum_intensity": "Float",
          "arguments": "Table",
          "base_to_origin": {
              "tx": "Float",
              "ty": "Float"
          },
          "sensor_to_base": {
              "tz": "Float",
              "qw": "Float",
              "qx": "Float",
              "qy": "Float",
              "qz": "Float"
          }
      }
  ]
  

  
  
  

• /settings/sensor-ext§

  Get an actual config of the desired sensor.
  If you do not pass any sensor-id, this command returns the full sensor-ids in SENSR.
  If you pass node-uri, this command returns the full sensor-ids in the specific node only.

  • Parameters
    • sensor-id : ID of sensor.
    • node-uri : ID of algo node.(optional)
  • Return code
    • 200 OK
    • 400 BAD REQ
      
      
      

  Example§

  $ curl -X GET 'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0000'
  ** Respond **
  {
      "uid": "lidar_0000",
      "name": "PointCloud",
      "topic": "/velodyne_points",
      "sensor": "ROS Message",
      "stack_capacity": 0,
      "detection_radius": 1000.0,
      "horizontal_angle_range": [-180.0, 180.0],
      "use_lidar_timestamp" : false,
      "use_intensity_filtering" : false,
      "minimum_intensity": 0.0,
      "base_to_origin": {
          "tx": 0.0,
          "ty": 0.0
      },
      "sensor_to_base": {
          "tz": 0.0,
          "qw": 1.0,
          "qx": 0.0,
          "qy": 0.0,
          "qz": 0.0
      },
      "arguments": {}
  }
  
  $ curl -X GET 'http://localhost:9080/settings/sensor-ext'
  ** Respond **
  [
      "lidar_0000",
      "lidar_0001"
  ]
  
  $ curl -X GET 'http://localhost:9080/settings/sensor-ext?node-uri=algo_0000'
  ** Respond **
  [
      "lidar_0000"
  ]
  

  
  
  

POST§

• /settings/sensor-ext§

  Update the config of the desired sensor. The "uid"-field of the body specifies which sensor this will be applied to. Also note that topic should be unique within an algo node.

  • Parameters
  • Return code
    • 200 OK
    • 400 BAD REQ
  • List of valid sensor
    • "ROS Message"
    • "Velodyne VLP-16"
    • "Velodyne VLP-32"
    • "Velodyne VLP-64"
    • "Velodyne VLP-128"
    • "Hesai Pandar20A"
    • "Hesai Pandar20B"
    • "Hesai Pandar40P"
    • "Hesai Pandar40M"
    • "Hesai PandarXT-16"
    • "Hesai PandarXT-32"
    • "Hesai PandarQT"
    • "Hesai Pandar64"
    • "Livox Series"
    • "Innoviz Pro" // X86_64 only
    • "Ouster OS Series"
    • "Baraja Spectrum-Scan"
    • "Cepton Vista"
    • "Quanergy M8"
    • "Quanergy MQ-8"
    • "Luminar Hydra"
      
      
      

  Example§

  $ curl -X POST 'http://localhost:9080/settings/sensor-ext' 
  --data '{
      "uid": "lidar_0000"
      "name": "PointCloud",
      "topic": "/velodyne_points",
      "sensor": "ROS Message",
      "stack_capacity": 0,
      "detection_radius": 1000.0,
      "horizontal_angle_range": [-180.0, 180.0],
      "use_lidar_timestamp" : false,
      "use_intensity_filtering" : false,
      "minimum_intensity": 0.0,
      "base_to_origin": {
          "tx": 0.0,
          "ty": 0.0
      },
      "sensor_to_base": {
          "tz": 0.0,
          "qw": 1.0,
          "qx": 0.0,
          "qy": 0.0,
          "qz": 0.0
      },
      "arguments": {}
  }'
  ** Respond **
  200 OK
  

  
  
  

PUT§

• /settings/sensor-ext§

  Add a new sensor to the desired algo node. If this command was successful, the id of the newly added sensor is returned. Please call POST command to the newly added sensor right after this command.
  Because the default config of the newly added sensor are not proper in most cases.

  • Parameters
    • node-uri : ID of the desired algo node.
    • sensor-type : The type of sensor (lidar/odom/can)
  • Return code
    • 200 OK
    • 400 BAD REQ
      
      
      

  Example§

  $ curl -X PUT 'http://localhost:9080/settings/sensor-ext?node-uri=algo_0000&sensor-type=lidar'       
  ** Respond **
  "lidar_0001"
  

  
  
  

DELETE§

• /settings/sensor-ext§

  Delete a sensor.

  • Parameters
    • sensor-id : ID of sensor.
  • Return code
    • 200 OK
    • 400 BAD REQ
      
      
      

  Example§

  $ curl -X DELETE 'http://localhost:9080/settings/sensor-ext?sensor-id=lidar_0001'        
  ** Respond **
  200 OK