LiDAR_datastream_transceiver

This is part of the LiDAR Data Streaming Project developed at TiHAN, IIT-H

Environment Setup

ROS (preferably melodic version for Ubuntu 18.04) is required to be setup on both the sender (encoder) and the receiver (decoder).

(Optional) ROS-Bridge Server Setup

ROS-Bridge server needs to be installed for roslibjs which was part of the project that this repository was intended for.

Installation: (Change melodic to the required version)

sudo apt-get install ros-melodic-rosbridge-server

Starting Server:

roslaunch rosbridge_server rosbridge_websocket.launch

Obtaining Source Code and Building

The source code is available here.

Run the following commands:

cd ~ #directory where the workspace is to be located
git clone https://github.com/bhaskar-anand-iith/LiDAR_datastream_transceiver/
cd LiDAR_datastream_transceiver/ #root of workspace
catkin build #building

Troubleshooting Build Errors

• If on Ubuntu 20.04+ / ROS Neotic (or later): in CMakeLists.txt add the lines

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

• octomap_ros not found: in CMakeLists.txt remove the dependency:

  octomap_ros #(line 13)

Execution

From workspace root folder:

source devel/setup.bash
rosrun compress_encoder encoder #For Encoder
rosrun compress_decoder decoder #For Decoder

ROSTopic Specifications

Encoder

Subscribes to /velodyne_points topic (from velodyne sensor)

Publishes to /n2b_data topic (to browser)

Decoder

Subscribes to /b2n_data topic (from browser)

Publishes to /n2v_data topic (to visualizer)