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how to use two vlp-16 in the ros melodic #480
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@himhan34 There are a lot of "procedures" in the issue you linked to.
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sorry for the small information.
=> i installed throught git clone command, and i tried to follow the direction that people had done. this one. also the same as people had done.
now i am using jetson xavier for our lab's robot. and i used this launch file , but there was no problem with catkin-make,
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Hello, Can you share whole launch file you metioned? I think I can help you. |
2,3 : 4: |
ahh sorry for the late reply. the problem was fixed frame. have a nice day! |
if you dont mind can i ask one question about the multi lidar
pointcloud fusion??
2022년 10월 26일 (수) 오후 4:39, JeongJae0815 ***@***.***>님이 작성:
… 2,3 :
I think you should make the configurations(gateway, host address) same on
both sensors.
Only differences is on ip address, data port and telemetry port(you set
well.)
1.
In my case, I use a router to use both sensors.
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Sorry for replying late :( |
thanks for answering
now i am using 2 vlp 16 lidar
do you know how to change oriemtation of point cloud?
2022년 11월 2일 (수) 오후 3:35, JeongJae0815 ***@***.***>님이 작성:
… Sorry for replying late :(
How can I help you?
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As I understand,I think you want to merge two point clouds from each sensors. On presentation of aligned point clouds on rviz, I don't know this driver offers the function of transformation.(cause I don't need it) |
thanks for helping, i will try!
2022년 11월 2일 (수) 오후 7:31, JeongJae0815 ***@***.***>님이 작성:
… As I understand,I think you want to merge two point clouds from each
sensors.
To merge two point clouds, you need homogenous matrix(positional
relationship between two sensors) through calibration process(You need to
search it with some keyword[velodyne, calibration]). You can merge them
with the matrix in one frame.
(Please search transformation matrix)
On presentation of aligned point clouds on rviz, I don't know this driver
offer the function of transformation.(cause I don't need it)
I think you can write a new ros code that publish new aligned point cloud.
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Hi, I have read the issue mentioned in above, and still no luck to see both lidar scan in Rviz2. I am working on ROS2 Galactic docker environment, the build is using git and rosdep install. In my case, I can see both Lidar individually with different assigned IP (192.168.1.201:2368 & 192.168.1.202:2369). However after I modifier the launch file, there always a lidar messge saying I have checked the wireshark packages and also the rqt_graph, both of them are appeared. Below is the IP configuration: lidar_left:
lidar_right:
One thing I would like to point out is that, even I change the frame_id to Below is the launch file:
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For me, the Ros version is ros melodic. how about changing the destination ip different each?? |
can you see the velodyne points each? |
Just checked the start log info when running
The launch file just ignore what I have passed to them, below is the .yaml for lidar_left:
lidar_right driver_node.yaml:
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I wish I could help you with this problem, but I've not used ROS2 yet. |
I somehow fix it just... what a lucky day! Here is the solution: launch.py
Now is the main part to solve the issue: As you might notice, I have given to each lidar node, after that, the node name would be changed to velodyne_drive_node_multi.yaml (adjust to your name):
After this changes, the config for driver_node would be loaded correctly. |
However, base on that solution I further deep down to see what happen if I modifiy the launch base on this logic: Here is the thing that I am not sure and hope someone could guide me:
This will introduce an error about VLP16db.yaml cannot be loaded, seem they dont recognize the new name with prefix
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@TZECHIN6 Please create different issues for different problems rather than continuing a long thread like this. If you are still having problems, please open a new issue. |
Please complete the following information:
sudo dpkg -s ros-$ROS_VERSION-velodyne
, if from source, give commit hash]Describe the bug
A clear and concise description of what the bug is.
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,
is there any ways to see them?
my code is exactly like you..
can you help me?
To Reproduce
Steps to reproduce the behavior:
=> i followed this procedure in this repo.
can you help me?
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