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Do the VLP-16 axes in Rviz match the axes in the User Manual? #71
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You are correct: this driver's coordinates do not match the diagram in the the VLP-16 manual. The driver translates points into X, Y, Z coordinates the same way it does for other Velodyne models. It follows the standard ROS coordinate conventions from REP-0103 for axis orientation, so the X axis points to the "front" of the device. Is that what you are seeing? Would you prefer it to work differently? |
Ok yes so I'm seeing the correct axes as per the ROS convention for cameras. I don't mind, software is easy to modify, but it could be useful to add that to the documentation. |
If you prefer to use the manufacturer's coordinate convention, it's easy to define a TF frame of reference that is 90 degrees to the right of the |
I have a related question to this. Is this 'Coordinate-System-Change' only done for the Velodyne 16? The axes from the 32 seem to match with the ones in the manual. I couldn't find a different handling of 16 and 32 though in the code yet. |
All models should work the same. |
Do the cartesian axes of the PointCloud from the VLP-16 (as seen in Rviz) match the axes shown in Velodyne's User Manual?
For me it looks to be different.
http://velodynelidar.com/docs/manuals/VLP-16%20User%20Manual%20and%20Programming%20Guide%2063-9243%20Rev%20A.pdf
Here are the x,y,z axes specified in the User Manual:
![vlp-16_axes_from_manual](https://cloud.githubusercontent.com/assets/14189705/12671576/91a2022e-c63e-11e5-8b92-74da822d88f1.png)
This is those same axes in relation to the real sensor:
![vlp-16_axes](https://cloud.githubusercontent.com/assets/14189705/12671585/ad729d9c-c63e-11e5-9aa9-5e0236aa247c.png)
With the sensor in this same position, when I look at the PointCloud in Rviz, the axes of the /velodyne frame appear to be different by 1 rotation of 90 degrees.
![vlp-16_axes_in_rviz](https://cloud.githubusercontent.com/assets/14189705/12671609/d0c6e41a-c63e-11e5-9f41-12dbc09f83d1.png)
You can see the x-axis and y-axis are in a different position:
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