Ouster OS1 - tcp-setting-configuration-parameters

17.3 Setting ConfigurationParameters
set_config_param <parameter> <value> willsetnewvaluesforconfigurationparameters,whichwilltake
effectafterissuing reinitialize command,or aftersensor reset.
reinitialize willreinitialize the sensorso the staged valuesof the parameters willtake effect imme-
diately.
write_config_txt will write new values of active parameters into a configuration file, so they will per-
sistafter sensorreset. Inorderto permanentlychange aparameterinthe configurationfile, firstuse
set_config_param to update the parameter in a staging area, then use reinitialize to make that pa-
rameteractive. Only aftertheparameterismade activewill write_config_txt capture ittotakeeffect
onreset.
set_udp_dest_auto will automaticallydeterminethe sender’sIP addressat thetimethe commandwas
sent, and set it as the destination of UDP traffic. This takes effect after issuing a reinitialize com-
mand. Usingthis commandhasthe sameeffectasusing set_config_param udp_ip <ip address>.
Anexample sessionusing theunixnetcat utilityis shownbelow:
$ nc os1-991900123456 7501
set_config_param lidar_mode 512x20
set_config_param
set_udp_dest_auto
set_udp_dest_auto
reinitialize
reinitialize
write_config_txt
write_config_txt
Thefollowingcommandswill setsensor configurationparameters:
Table17.4: Setting ConfigParams
set_config_param CommandDescription Response
udp_ip <ip address> Set the <ip address> to which the sen-
sor sends UDP traffic. On boot, the
sensor will not output data until this is
set. If the IP address is not known,
this can also be accomplished with
the set_udp_dest_auto command (details
above). The sensor supports unicast,
IPv4 broadcast (255.255.255.255), and
IPv6multicast (ff02::01)addresses.
set_config_param onsuc-
cess,error: otherwise
udp_port_lidar <port> Set the <port> on udp_ip to which lidar
datawill besent (7502,default).
set_config_param onsuc-
cess,error: otherwise
udp_port_imu <port> Set the <port> on udp_ip to which IMU
datawill besent (7503,default).
set_config_param onsuc-
cess,error: otherwise
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