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Is it possible to run Stencil 2 with the Velodyne detached?
Rigidly mount Stencil 2 and Velodyne close together to get the best IMU data. We recommend
mounting the two devices in a way that minimizes the relative motion between the Velodyne and
Stencil 2, e.g. if the application involves mostly horizontal and planar motion, mount stencil right
above or below the Velodyne. Using the Stencil Settings icon set laser_wrt_imu_roll,
laser_wrt_imu_pitch, laser_wrt_imu_yaw to the relative orientation of the Velodyne with
respect to Stencil 2. Also, to ensure synchronization, be sure to use the same wiring as the cable
supplied by Kaarta to connect the Velodyne to Stencil 2. Kaarta sells a version of Stencil / Traak
with an external IP65 rated IMU. In this case Stencil can be relocated further away from the
Velodyne, but the IMU needs to be mounted rigidly to the same plate as the Velodyne.
Can I carry or mount Stencil 2 to my vehicle vertically?
Limit tilting to 15 degrees for most applications when not using the Feature Tracker. Although
Stencil 2 can be tilted vertically when using the Feature Tracker, best results are obtained when
limiting it to 60 degrees.
Can you recommend batteries for Stencil 2?
Most LiPo batteries that output 18 VDC are a good option. They should be capable of supplying at
least 3.5 amps continuous current. We have used a 6,200 mAh battery with a 25°C rating with
good success. Drone batteries are also another good source for batteries. The PowerADD 23,000
or 32,000 maH batteries and a suitably rated car starting battery have also been used with Stencil.
Can you recommend accessories for use with Stencil 2?
Stencil 2 is shipped with a standard ¼-20 thread tripod mount. Other accessories not included are:
• Hex key for attaching/removing the Velodyne from Stencil 2 - 1.5mm
• Handle –HDVATE P/N B014WISX6I
• Desk mounted tripod – Clovis CS 50 Tabletop Mini Tripod with Swivel Ball Head
• Ratcheting safety tie-down straps – Vault P/N VCM1-1500-15B-4
• Monopod camera mount – Choose your favorite walking stick
• Wireless Keyboard/Mouse – Adafruit Product ID: 1738
Kaarta also has a vehicle accessory kit that includes:
• HDMI Touchscreen display
• Extension cables for HDMI display
• 12VDC car adapter cable
• Battery (23,000 mAH capacity) with extension cable (US Shipments only)
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