Skip to main content

Vision Sensor: Setup & Installation

Vision Sensor Details#

Front Vision Sensor : VK180Pro

Rear Vision Sensor : VK180

Network Configuration for Vision Sensors#

On OBC, delete whatever ethernet network connections are available

nmcli connection showsudo nmcli connection delete <connection-name>

Setup network connection for the vision modules:

sudo nmcli connection add type ethernet ifname enP1p1s0 con-name visionmoudlesudo nmcli connection modify visionmodule ipv4.method shared ipv4.routes 239.0.0.0/24 ipv4.route-metric 1sudo nmcli connection up visionmoudle

sudo systemctl restart NetworkManager
nmcli connection show #check the active network connection and ensure visionmodule is active

Setup & Installation#

To install required packages to integrate the vision sensors with the on-board computer, follow the steps below,

  1. VK System Installation Guide
  2. VK180 IP Network configuration

Enabling Time Sync Between OBC & Vision Sensors#

Download the Precision Time Protocol(PTP) package on the OBC

sudo apt install linuxptp

Download the ptp4_software_master.conf file

Run the following on the host computer (e.g., Jetson Orin) for starting time synchronizer and verify its working

sudo ptp4l –2 –i <dev> -S –m –step_threshold=1 –f ~/path/to/ptp4l_software_master.conf
#<dev> = Network interface name, if you have configured the network as provided above, then <dev> should be replaced with enP1p1s0
sudo ptp4l –2 –i enP1p1s0 -S –m –step_threshold=1 –f ~/path/to/ptp4l_software_master.conf

Creating Service for Time Sync#

To automate and start the ptp time synchronizer on boot for the vision sensors, follow the below steps

sudo vim /etc/systemd/system/vision_timesync.service

Copy and paste the following into file and save the file

[Unit]Description= PTP4L based Time Sync Service for Vilota Vision ModulesAfter=network.target
[Service]Type=simpleExecStart=/usr/sbin/ptp4l -2 –i enP1p1s0 –S –m –step_threshold=1 –f /home/nvidia/Downloads/vilota/ptp4l_software_master.confRestart=on-failureUser=root
[Install]WantedBy=multi-user.target

You could also download the vision_timesycn.service file and move it to /etc/systemd/system/

sudo mv /path/to/vision_timesync.service /etc/systemd/system/

Reload the daemon and enable the vision_timesync.service 

sudo systemctl daemon-reexecsudo systemctl daemon-reloadsudo systemctl enable vision_timesync.service
sudo systemctl start vision_timesync.servicesudo systemctl status vision_timesync.service #to check the status of the time synchronizer for the vision modules

To restart the vision_timesync.service if needed

sudo systemctl restart vision_timesync.service

Updating Vision Sensors#

Connect the vision sensor to the host PC and open its WebUI on any browser: 10.42.0.64 #For VK180Pro Sensor(Master) 10.42.0.65 #For VK180 Sensor(Slave) and also SSH into the vision sensor using a terminal

#For Master vision sensorssh compulab@10.42.0.64
#For Slave vision sensorssh compulab@10.42.0.65

On WebUI under Home section, check the DP Modules checkbox and click Update

After updating the vision sensor using WebUI, inside the sensor, modify the settings.yaml file as below,

$ sudo vim /var/lib/vilota/vk_manager/settings.yaml  #For VK180Pro (Master), network:     managed: true     identifier: 1 
#For VK180 (Slave), network:    managed: true     identifier: 2

After modifying the settings.yaml file, do `sudo systemctl restart vk-manager-server.service'

Reboot the sensor

Modify the sensor configuration on the WebUI under Modules as below,

For VK180Pro (Master),

Time Synchronizer 

Start-on-boot   : Yes Role            : BoundarySoftware

Camera Driver 0 

Start-on-boot       : Yes  Time-synchronized   : Yes Start Configuration : vk180-pro_light_rectified.json

VIO 0 

Start-on-boot       : Yes Start Configuration : vk180-pro_moderate_rectified.json

For VK180 (Slave),

Time Synchronizer 

Start-on-boo    : Yes Role            : SlaveSoftware

Camera Driver 0 

Start-on-boot       : Yes Time-synchronized   : Yes Start Configuration : vk180_light_rectified.json

VIO 0 

Start-on-boot       : Yes Start Configuration : vk180_moderate_rectified.json

Reference Links#

  1. VK180 Product Guide
Last updated on