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How to use two VLP16( velodyne) with just one computer at a same time #108
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I believe there is a bug in What it should do is create |
I really appreciate your kind. |
By the way, should I change |
Yes, you need to use the correct model parameter. You can use the This new test script is an example of what you can do (ignore the It uses two different device models to get more test coverage, but two or more VLP-16 devices would work similarly. Have fun at ROSCon! Wish I could be there. |
Please post a comment here when you get a chance to test this fix, whatever the results. |
Of course, I'll let you know the reaults. Maybe 8 hours later |
okay, Let me tell you something. I really appreciate your kind :) |
The test name as an "s" before the dot. This works for me:
I can also launch it with However, those unit tests depend on having previously run |
I wonder if we need to specify a different port number for the second device? I lack access to the hardware needed for trying that myself. |
When I've worked with multiple VLP-16s in the past, I've needed to specify a separate port number for each sensor. If both sensors use the the same port, a process listening on that port will receive all packets from both sensors. |
Thanks @trainman419, that's what I suspected! |
This is complicated enough to need a tutorial explaining how to do it. |
I changed my code as you said,so I could see that it works. |
Glad it's working now. I am sure others will benefit from your efforts. |
The fix for this issue fails when the |
This has been super helpful, thank you all for taking the time! (Aside: my biggest problem was that both LIDARs were using the same UDP port, which is an issue despite that both are on different physical interfaces and different subnets.) But now I've got a related but not identical issue: after following in your footsteps, I've got two VLP-16s publishing pointclouds on the topic /velodyne_pointcloud in two separate frames. But I believe for my application (cartographer_ros) that I need them publishing in two separate topics. It's unclear to me that there's anywhere not hardcoded in source to configure this per nodelet manager? Has anyone else run into and satisfied this requirement? |
commit 38e313e Merge: b311237 d66c729 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Fri Jan 26 00:05:03 2018 -0600 Merge pull request ros-drivers#136 from stsundermann/patch-1 Use std::abs instead of abs commit b311237 Author: Kyle Rector <krector@autonomoustuff.com> Date: Fri Jan 5 11:20:09 2018 -0600 Adding missing 32C configuration file. commit e306deb Merge: 67fbaa5 bf8f4d7 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Fri Jan 5 08:57:36 2018 -0600 Merge pull request ros-drivers#139 from ASDeveloper00/vlp32 Adding support for VLP-32C. commit bf8f4d7 Author: Autonomoustuff Developer <developer@autonomoustuff.com> Date: Thu Jan 4 17:58:14 2018 -0500 removed config file commit 2966518 Author: AutonomouStuff Developer <developer@autonomoustuff.com> Date: Thu Jan 4 16:17:48 2018 -0500 change readme commit 6281d25 Author: kennouni <ennounikamal@gmail.com> Date: Thu Jan 4 08:30:31 2018 -0500 initial commit commit 67fbaa5 Merge: f8c6e82 fe3add7 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Wed Jan 3 00:17:18 2018 -0600 Merge pull request ros-drivers#138 from volkandre/cut_at_specified_angle_feature Cut at specified angle feature commit fe3add7 Author: Andre Volk <avolk@gmx.com> Date: Fri Dec 29 11:08:18 2017 -0500 Updated default cut_angle parameters in launch files after switching from deg to rad. commit 4323df4 Author: Andre Volk <avolk@gmx.com> Date: Fri Dec 29 10:52:51 2017 -0500 cut_angle parameter is now in rad according to REP 103 commit d66c729 Author: Stephan Sundermann <stephansundermann@gmail.com> Date: Tue Dec 12 12:03:08 2017 +0100 Use std::abs instead of abs abs is the c version which returns an integer. This is probably not intended here, so use the templated std::abs function. commit f2f168c Author: Andre Volk <avolk@gmx.com> Date: Mon Dec 4 18:09:16 2017 -0500 Fixed timestamp related bug found by @cfneuhaus, which was described here: ros-drivers#126 (comment) commit bb8401b Merge: 4800414 7fde5de Author: Andre Volk <avolk@gmx.com> Date: Mon Dec 4 15:57:38 2017 -0500 Merge branch 'cut_at_specified_angle_feature' of https://github.com/volkandre/velodyne into cut_at_specified_angle_feature commit 4800414 Merge: cb8898d f8c6e82 Author: Andre Volk <avolk@gmx.com> Date: Mon Dec 4 15:51:59 2017 -0500 Updated branch from ros-drivers/master and resolved conflicts. commit 7fde5de Merge: cb8898d f8c6e82 Author: Andre Volk <avolk@gmx.com> Date: Mon Dec 4 15:51:59 2017 -0500 Updated branch from ros-drivers master and resolved conflicts. commit f8c6e82 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Fri Nov 10 15:10:12 2017 -0600 Bumping version. commit d17e252 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Fri Nov 10 15:05:09 2017 -0600 Testing removing single quotes in changelog. commit 722b849 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Fri Nov 10 14:58:13 2017 -0600 Updating change logs for release. commit 8e999eb Merge: 78ee547 f40555d Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Mon Nov 6 17:22:39 2017 -0600 Merge pull request ros-drivers#110 from kmhallen/master Added velodyne_laserscan package commit f40555d Merge: 269e83c 78ee547 Author: Micho Radovnikovich <mradov@gmail.com> Date: Mon Nov 6 15:38:20 2017 -0500 Merge remote-tracking branch 'ros-drivers/master' commit 78ee547 Merge: 76be2be cccc138 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Mon Nov 6 10:33:44 2017 -0600 Merge pull request ros-drivers#129 from kmhallen/pluginlib_macro Modern pluginlib macro commit cccc138 Author: Kevin Hallenbeck <khallenbeck@dataspeedinc.com> Date: Wed Nov 1 18:12:23 2017 -0400 Update to use non deprecated pluginlib macro commit 76be2be Merge: 3747e93 462c809 Author: Joshua Whitley <jwhitley@autonomoustuff.com> Date: Wed Oct 18 13:40:37 2017 -0500 Merge pull request ros-drivers#127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file commit 269e83c Author: Kevin Hallenbeck <khallenbeck@dataspeedinc.com> Date: Wed Oct 11 22:50:09 2017 -0400 Added tests for velodyne_laserscan commit 345820e Author: Kevin Hallenbeck <khallenbeck@dataspeedinc.com> Date: Wed Oct 11 21:44:58 2017 -0400 Fixed validating PointCloud2 field types commit d6fce8b Author: Kevin Hallenbeck <khallenbeck@dataspeedinc.com> Date: Wed Oct 11 21:39:24 2017 -0400 Package.xml format version 2 commit 7b7be3c Merge: d678c87 00f407e Author: kmhallen <khallenbeck@dataspeedinc.com> Date: Sat Sep 30 19:11:30 2017 -0400 Merge pull request #1 from volkandre/master Fixed bug. Laserscans now cover full 360 degrees. commit 462c809 Author: Kris Kozak <kkozak@swri.org> Date: Thu Sep 28 18:24:41 2017 -0500 Add VLP16 Puck Hi-Res support commit cb8898d Merge: 6c0f6b0 3747e93 Author: Andre Volk <avolk@gmx.com> Date: Thu Sep 28 11:22:35 2017 -0400 Updated cut_at_specified_angle_feature with latest master version. commit 00f407e Author: volkandre <volk.andre@gmail.com> Date: Thu Sep 28 09:55:03 2017 -0400 Fixed bug. Laserscans now cover full 360 degrees. commit 3747e93 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Apr 19 11:02:14 2017 -0500 velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (ros-drivers#93) This eliminates a CMake warning when building on Xenial. commit e263b80 Merge: ed6e94b e6560cc Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Dec 20 09:41:35 2016 -0600 Merge pull request ros-drivers#111 from OrebroUniversity/master Added an interface to set up raw data processing offline commit e6560cc Author: Todor Stoyanov <todor.stoyanov@oru.se> Date: Tue Dec 20 15:38:16 2016 +0100 Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master commit d678c87 Author: Kevin Hallenbeck <khallenbeck@dataspeedinc.com> Date: Wed Dec 7 19:01:21 2016 -0500 Added velodyne_laserscan package and inserted into existing launch files commit ed6e94b Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sun Oct 9 11:14:20 2016 -0500 test multiple nodelet manager support (ros-drivers#108) commit 4d0d71f Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sat Oct 8 15:02:07 2016 -0500 add launch args to support multiple devices (ros-drivers#108) commit 611df63 Merge: d8b0c2f 2495c8f Author: Jack O'Quin <jack.oquin@gmail.com> Date: Thu Oct 6 14:25:24 2016 -0500 Merge pull request ros-drivers#101 from teosnare/master velodyne_driver/src/lib/input.cc : fix for device_ip filter commit d8b0c2f Merge: 34d1dad e3d7e74 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Sep 20 17:29:31 2016 -0500 Merge pull request ros-drivers#105 from fudger/patch-1 Remove unused constants. commit 34d1dad Merge: 109a51f 0b03832 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Aug 26 17:39:39 2016 -0500 Merge pull request ros-drivers#104 from altrouge/launch_options Add more options in launch files. commit 0b03832 Author: Daniel Jartoux <daniel.jartoux@navya-technology.com> Date: Tue Aug 16 15:56:50 2016 +0200 Rearranged alphabetically. commit e3d7e74 Author: Alexander Schaefer <fudger@users.noreply.github.com> Date: Tue Aug 16 08:47:19 2016 +0200 Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range. commit 109a51f Merge: 374e19d 3a19dcc Author: Jack O'Quin <jack.oquin@gmail.com> Date: Mon Aug 15 09:29:51 2016 -0500 Merge pull request ros-drivers#103 from fudger/patch-1 Fix misleading typecasts. commit 26c24ef Author: Daniel Jartoux <daniel.jartoux@navya-technology.com> Date: Thu Aug 11 17:35:21 2016 +0200 Add more options in launch files. - rpm, device_ip, port, read_once, read_fast, repeat_delay commit 3a19dcc Author: Alexander Schaefer <fudger@users.noreply.github.com> Date: Thu Aug 11 16:03:42 2016 +0200 Fix misleading typecasts. intensity and VPoint::intensity are both of type float. commit 2495c8f Author: Matteo Murtas <m.murtas.radionav@gmail.com> Date: Tue Aug 9 17:40:12 2016 +0200 velodyne_driver/src/lib/input.cc : fix for device_ip filter Fix for device_ip filter in InputSocket: initialization of devip_ for correct ip filtering in InputSocket::getPacket. commit 374e19d Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Jul 5 09:09:35 2016 -0500 velodyne_driver: credit @priyankadey for VLP-16 bug fix (ros-drivers#96) commit 2095ee3 Merge: f85ab35 58040a0 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sun Jul 3 11:45:09 2016 -0500 Merge pull request ros-drivers#96 from priyankadey/master updated VLP-16 packet rate from user manual. commit 58040a0 Author: Priyanka Dey <priyanka@aurobots.com> Date: Thu Jun 30 19:59:53 2016 -0800 updated VLP-16 packet rate from user manual. Also verified with sensor. It reduced overlap in the pointcloud commit f85ab35 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Jun 29 21:43:48 2016 -0500 update change history commit 78fa227 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Jun 17 17:35:32 2016 -0500 update README for Kinetic (ros-drivers#93) commit 618a73a Merge: 2887506 075cb76 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Jun 15 21:17:48 2016 -0500 Merge pull request ros-drivers#94 from ros-drivers/pcap_port velodyne_driver: use port number for PCAP data (ros-drivers#46, ros-drivers#66) commit 075cb76 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Jun 15 20:56:28 2016 -0500 fix g++ 5.3.1 compile errors (ros-drivers#94) commit f2bfe50 Merge: f3b19fd 2887506 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Jun 15 19:48:00 2016 -0500 merge current master (ros-drivers#94) commit 2887506 Merge: b8e8faa 252615c Author: Jack O'Quin <jack.oquin@gmail.com> Date: Thu Jun 2 20:58:20 2016 -0500 Merge pull request ros-drivers#92 from adasta/master GCC Build Warnings commit 252615c Author: Adam Stambler <stambler@nearearthautonomy.com> Date: Thu Jun 2 16:58:10 2016 -0400 Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: ‘last_azimuth_diff’ may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION); commit 00db43d Author: Adam Stambler <stambler@nearearthautonomy.com> Date: Thu Jun 2 16:56:51 2016 -0400 Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58: error: dereferencing type-punned pointer will break strict-aliasing rules [-Werror=strict-aliasing] p.rgb = *reinterpret_cast<float*>(&rainbow[color]); ^ commit b8e8faa Merge: bd05bf4 8ca4f47 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed May 25 18:40:29 2016 -0500 Merge pull request ros-drivers#91 from chukcha2/master update velodyne_driver package description to include all models commit 8ca4f47 Author: Ilya <ilya@example.com> Date: Wed May 25 18:50:07 2016 -0400 update velodyne_driver package description to include all models commit bd05bf4 Merge: 893bdcb ed051a8 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed May 25 16:49:30 2016 -0500 Merge pull request ros-drivers#89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver commit ed051a8 Author: Andreas Wachaja <wachaja@informatik.uni-freiburg.de> Date: Fri Apr 22 13:54:20 2016 +0200 velodyne_driver: Add dynamic_reconfigure and time_offset correction The value of time_offset is added to the calculated time stamp in live mode for each packet. commit 094db69 Author: Andreas Wachaja <wachaja@informatik.uni-freiburg.de> Date: Fri Apr 22 13:51:11 2016 +0200 velodyne_driver: Make input destructors virtual commit 5e4a52e Author: Andreas Wachaja <wachaja@informatik.uni-freiburg.de> Date: Wed Apr 20 11:31:21 2016 +0200 velodyne_pointcloud: Fix compile warning "Wrong initialization order" commit 893bdcb Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Apr 12 16:24:34 2016 -0500 velodyne_pointcloud: add dynamic reconfig update to change log (ros-drivers#78) commit c434f43 Merge: 14d0241 76e5f85 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Apr 12 16:18:17 2016 -0500 Merge branch 'fudger-reconfigure_transform_node' commit 76e5f85 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Apr 12 16:14:36 2016 -0500 velodyne_pointcloud: use recommended add_dependencies() CMake variable ros-drivers#78 commit 196f273 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Apr 12 15:44:26 2016 -0500 velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2) commit b344cf0 Merge: 14d0241 f7d0ce4 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Apr 12 13:59:41 2016 -0500 Merge branch 'reconfigure_transform_node' of https://github.com/fudger/velodyne commit 14d0241 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Mar 25 11:28:33 2016 -0500 prepare change history for coming Indigo release (ros-drivers#59) commit 8e58199 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Mar 22 11:49:23 2016 -0500 calibration: unit test case improvements (ros-drivers#84) commit 9a5d583 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Mon Mar 21 15:38:34 2016 -0500 calibration: read all intensities as float, then convert (ros-drivers#84) commit c3e5178 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Mon Mar 21 11:00:27 2016 -0500 calibration: add gtest for ros-drivers#84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml. commit fbe603a Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sun Mar 20 18:42:49 2016 -0500 calibration: make max_intensity and min_intensity optional (ros-drivers#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration. commit 71d6ec2 Merge: 3fc2d20 3df0861 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Mar 18 21:39:13 2016 -0500 Merge pull request ros-drivers#76 from pomerlef/master Sign inversion in some equations commit 3fc2d20 Merge: f896e22 594d0be Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sat Mar 12 11:00:50 2016 -0600 Merge pull request ros-drivers#82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests. commit 594d0be Author: William Woodall <william@osrfoundation.org> Date: Fri Mar 11 19:48:17 2016 -0800 fix test_results call commit f3f1fde Author: William Woodall <william@osrfoundation.org> Date: Fri Mar 11 19:35:03 2016 -0800 try to fixup travis-ci commit 0b82b20 Author: William Woodall <william@osrfoundation.org> Date: Fri Mar 11 18:51:18 2016 -0800 fix the yaml-cpp 0.5 code paths commit 5b1eced Author: William Woodall <william@osrfoundation.org> Date: Fri Mar 11 19:14:38 2016 -0800 make a build failure stop the next steps commit bf1592c Author: William Woodall <william@osrfoundation.org> Date: Fri Mar 11 19:04:39 2016 -0800 add travis pr testing commit f896e22 Merge: 79c8d82 ccb9a0b Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Mar 11 19:35:30 2016 -0600 Merge pull request ros-drivers#80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional commit ccb9a0b Author: William Woodall <william@osrfoundation.org> Date: Tue Mar 8 19:18:21 2016 -0800 allow horiz_offset_correction to be optional with 0 as default commit 47df691 Author: William Woodall <william@osrfoundation.org> Date: Tue Mar 8 19:17:46 2016 -0800 allow floats instead of ints in min/max_intensity commit f7d0ce4 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Mon Feb 22 10:20:55 2016 +0100 Resolve frame ID name using tf prefix. commit 95b4691 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Mon Feb 22 09:30:37 2016 +0100 Improve coding style. commit 26fface Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Fri Feb 19 19:07:41 2016 +0100 Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to. commit 80a1494 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Fri Feb 19 18:21:11 2016 +0100 Add docs to gitignore. Documentation tools create this folder that shall not be uploaded to git. commit 79c8d82 Merge: fd36398 2856180 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Thu Feb 18 15:40:51 2016 -0600 Merge pull request ros-drivers#77 from fudger/pretty_print Fix output of calibration data onto console commit 2856180 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Thu Feb 18 17:25:34 2016 +0100 Add a missing space. commit acce5e1 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Thu Feb 18 12:09:06 2016 +0100 Fix line that always indicates use of model VLP-16. commit 796d139 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Wed Feb 17 11:59:40 2016 +0100 Align console output of calibration data. commit 03db2fd Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Wed Feb 17 11:58:36 2016 +0100 Add *.user files to gitignore. commit 3df0861 Merge: 3f6924e fd36398 Author: pomerlef <f.pomerleau@gmail.com> Date: Thu Feb 11 18:11:49 2016 -0500 Merge branch 'master' of https://github.com/ros-drivers/velodyne commit 3f6924e Author: pomerlef <f.pomerleau@gmail.com> Date: Thu Feb 11 18:11:21 2016 -0500 resolve sign error commit fd36398 Merge: 455721b 597aa91 Author: Jack O'Quin <jack.oquin@gmail.com> Date: Tue Feb 9 09:37:26 2016 -0600 Merge pull request ros-drivers#73 from fudger/master Correct important data type error for VLP-16 commit 597aa91 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Tue Feb 9 16:04:11 2016 +0100 Fix data type error that distorts the point cloud. commit 0c235c1 Author: Alexander Schaefer <aschaef@cs.uni-freiburg.de> Date: Mon Feb 8 10:55:41 2016 +0100 Fix and add a few comments. commit 455721b Merge: 70a8fae f75228e Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sun Nov 29 10:24:21 2015 -0600 Merge pull request ros-drivers#68 from jlblancoc/patch-1 Remove unused variable commit f75228e Author: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Date: Sun Nov 29 14:47:31 2015 +0100 Remove unused variable I think that `dsr` was unused. See line 317: for (int dsr=0; ... commit f3b19fd Author: Jack O'Quin <jack.oquin@gmail.com> Date: Fri Nov 20 20:30:07 2015 -0600 velodyne_driver: use port number for PCAP data (ros-drivers#66) commit 70a8fae Author: Jack O'Quin <jack.oquin@gmail.com> Date: Sun Nov 1 13:54:08 2015 -0600 VLP-16: skip badly formatted data packets (ros-drivers#62, ros-drivers#63) commit 6c0f6b0 Merge: c05f00e 185e78d Author: Jack O'Quin <jack.oquin@gmail.com> Date: Wed Aug 19 09:56:38 2015 -0500 Merge branch 'cut_at_specified_angle_feature' of https://github.com/ddillenberger/velodyne commit 185e78d Author: Denis Dillenberger <dillenberger@uni-koblenz.de> Date: Mon Oct 13 17:01:28 2014 +0200 cut at specific angle feature
remap the topics velodyne_points and velodyne_packets in the cloud_nodelet.launch and nodelet_manager.launch and to |
Thanks for coming back with that! I should have updated this with a sample config after I finally sorted it all out. Unfortunately I don't have it on hand anymore :( |
thacks a lot !!! |
I use @JeongJae0815 code and change the port number but when I open it the status still display error. |
@NTUTian - I am sorry but the maintainers of this repository can not support another repository (like the one from @JeongJae0815). However, the official Velodyne repository should support many Velodynes (my company has tested up to 4 simultaneously). To do this, you must log in to the web interface on each Velodyne and change the IP address and port to something different. If you are using them all on the same switch, they must all be in the same subnet as each other and as the computer which will be connecting to them. I also recommend changing the broadcast IP on each Velodyne to the IP address of the computer that will be connecting to them. So, in summary, for each Velodyne:
|
Thanks for coming back with that! |
I'm sorry for replying late. I don't know why this mail is cosidered as spam, so I couldn't check this email quickly. Like @JWhitleyAStuff said, the official velodyne repository support many velodynes. For this, You have to access in to the web interface(maybe default setting is 192.168.1.21) and change each of them differently. |
I changed IP to 192.168.1.201 ,the other is 192.168.1.201 and the data port changed 2364 and 2372 in web .I also changed IP and port in VLP16_points_multi.launch.When I run the source the status is OK but show nothing. |
you must change ur IP differently like one is 192.16.1.201 the other is 192.168.1.202 and also data port, telemetry port differently. |
Sorry, I made a typo. I use IP 192.168.1.201 and 192.168.1.202 and port alos, but still show nothing. |
Did you change telementry port? you must change this telementry port. |
I changed data port and telementry port like this code.
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I can not enter the website I think I lost my address ip .What can I do to find my ip or how to reset it? |
It's a pain - it's mentioned on page 24 of the web server manual for the VLP-16: http://velodynelidar.com/docs/manuals/63-9266%20REV%20A%20WEBSERVER%20USER%20GUIDE,HDL-32E%20&%20VLP-16.pdf If you don't know the IP of the sensor, you have to plug it in and start WireShark on the interface. The sensor broadcasts messages whether you want to or not, so the packet capture will show a flood of sensor data on the interface. The IP it's coming from is the one you need to log in to. |
Thank a lot I get my IP now, |
Hi, Anybody tried to restrict the laser beam emission time interval in Velodyne puck lite? |
Following the recommendation from @JWhitleyAStuff, I'm including the velodyne_pointcloud launch files in my launch file but am still not able to set up ros topics for two VLP16 running concurrently. One of my ros topics is always empty, corresponding to the last velodyne plugged in. Similarly, I can only log on to one sensor at a time. The error (warning) I'm getting is Velodyne poll() timeout, which suggests a network issue. My settings are: Sensor 1: Ethernet connection 1 (enp6s0): Sensor 2: Ethernet connection 2 (enp7s0): Routes have been added from ethernet interfaces to the host addresses on the sensors and my launch file is below. Note that the commands I used for adding routes, as indicated in the VLP16 setup guide, were:
for my particular MAC addresses. Side note, I am not sure why the guide says to assign a second address to my interfaces (i.e. 3.100 & 3.200).
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Update. Problem is solved. Correct configuration below. Sensor 1: Ethernet connection 1 (enp6s0): Sensor 2: Ethernet connection 2 (enp7s0):
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@hroachewilson How did you connect the Lidars to the different ethernet ports (enp6s0 and enp7s0) as stated above? Did you use two systems? I am currently using an ethernet switch hub and am unable to access various ethernet ports. Any help is much appreciated. |
hello. first thank you for the nice code sharing. i am also doing the same thing as you do with two vlp 16 lidar after following the thing that you guys done, there was no error, but i cant see mixed point clouds, my code is exactly like you..
can you help me? |
@himhan34 Please do not bump dead threads like this. Create a new question and mention this issue if you want to reference it. |
okey. i undetstand.
thanks for helping me
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Hey,
I have two VPL16 velodyne laser scanners and I connected using a switch to my computer.
I fixed first VPL 16's IP to 192.168.1.201 and second VPL's IP to 192.168.1.202 using Web GUI
and then I ran the velodyne package; roslaunch velodyne_pointcloud VLP16_points2_2.launch
here is the code of VLP16_points2_2.launch
However, I just can get only one topic which has combined data of two sensors Another topic is just empty Is there anything that I gotta do to get both of data?
Thank you in a advance I really appreciate your kind
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