1. Compatibility

1.1. Network

As shipped from the factory, the MultiSense S21 is configured to communicate on a network with a Maximum Transmission Unit (MTU) size of 7200 bytes. On Linux-based systems the MTU settings of a network interface can be checked by issuing the following command. Note that INTERFACE_NAME should be replaced with the name of network interface in question, most likely eth0.

/sbin/ifconfig INTERFACE_NAME

The output of this command will include information about the current MTU setting of the network interface.

The MTU setting is notes in the example output below, which was generated by the command /sbin/ifconfig eth0:

eth0 Link encap:Ethernet  HWaddr 3c:97:0e:29:85:22
    inet addr:10.66.171.20  Bcast:10.66.171.255  Mask:255.255.255.0
    inet6 addr: fd80::3897:dff:1e29:8522/64 Scope:Link
    UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1               (1)
    RX packets:70029406 errors:0 dropped:0 overruns:0 frame:0
    TX packets:30272801 errors:0 dropped:0 overruns:0 carrier:0
    collisions:0 txqueuelen:1000
    RX bytes:69790232908 (64.9 GiB)  TX bytes:35517400326 (33.0 GiB)
    Interrupt:20 Memory:f5200000-f5220000
1 Line showing original MTU size of 1500

Verify that the network hardware supports the necessary frame size by explicitly setting its MTU to 7200:

sudo /sbin/ifconfig INTERFACE_NAME mtu 7200

Where INTERFACE_NAME is again replaced by the name of the network interface in question.

Check that the change was successful by querying the settings again:

/sbin/ifconfig INTERFACE_NAME

The output should now reflect the updated MTU setting:

eth0 Link encap:Ethernet  HWaddr 3c:97:0e:29:85:22
    inet addr:10.66.171.20  Bcast:10.66.171.255  Mask:255.255.255.0
    inet6 addr: fd80::3897:dff:1e29:8522/64 Scope:Link
    UP BROADCAST RUNNING MULTICAST  MTU:7200  Metric:1              (1)
    RX packets:70029406 errors:0 dropped:0 overruns:0 frame:0
    TX packets:30272801 errors:0 dropped:0 overruns:0 carrier:0
    collisions:0 txqueuelen:1000
    RX bytes:69790232908 (64.9 GiB)  TX bytes:35517400326 (33.0 GiB)
    Interrupt:20 Memory:f5200000-f5220000
1 Line showing new MTU size of 7200

1.2. Software

1.2.1. ROS Driver

The ROS driver release v3.3 is designed to be fully backwards compatible with all released firmware versions, back to and including the 2.0 release. If the ROS driver detects an older firmware version, only the appropriate topics and capabilities (including dynamic_reconfigure variables) will be presented. In addition the 3.3 ROS driver supports both the rosbuild and catkin build systems.

1.2.2. Device Firmware

The 3.1 firmware release is designed to be fully backwards compatible with older ROS driver releases, back to and including the 2.0 release. However, older ROS drivers will only be capable of exposing functionality that existed at the time of their release.

1.3. Hardware

The ROS driver release v3.3 and documentation support all versions of the Carnegie Robotics MultiSense product line including: MultiSense SL, S7, S7S, and S21. For more information about the various MultiSense products please visit https://carnegierobotics.com/products/