ros-drivers · JWhitleyWork · Dec 15, 2017 · Oct 10, 2014 · Oct 11, 2014 · Jan 8, 2015
diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,6 @@
 *.pyc
 *.tar.gz
 *~
+*.user
+doc
 TAGS
diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,33 @@
+sudo: required
+dist: trusty
+# Force travis to use its minimal image with default Python settings
+language: generic
+compiler:
+  - gcc
+env:
+  global:
+    - CATKIN_WS=~/catkin_ws
+    - CATKIN_WS_SRC=${CATKIN_WS}/src
+  matrix:
+    - CI_ROS_DISTRO="indigo"
+    - CI_ROS_DISTRO="jade"
+install:
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install -qq -y python-rosdep
+  - sudo rosdep init
+  - rosdep update
+  # Use rosdep to install all dependencies (including ROS itself)
+  - rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO
+script:
+  - source /opt/ros/$CI_ROS_DISTRO/setup.bash
+  - mkdir -p $CATKIN_WS_SRC
+  - ln -s $TRAVIS_BUILD_DIR $CATKIN_WS_SRC
+  - cd $CATKIN_WS
+  # Build [and Install] packages, build tests, and run tests
+  - catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release &&
+    catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args tests &&
+    catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args run_tests
+  # Check results
+  - catkin_test_results ./build_isolated
diff --git a/README.rst b/README.rst
@@ -9,9 +9,10 @@ definition 3D LIDARs`_.
   The master branch normally contains code being tested for the next
   ROS release.  It will not always work with every previous release.
 
-The current ``master`` branch works with ROS Indigo and Hydro.  It may
-work with Groovy, but that is not guaranteed.  To build for Fuerte
-from source, check out the ``rosbuild`` branch instead of ``master``.
+The current ``master`` branch works with ROS Kinetic, Jade, and
+Indigo.  It may work with Hydro and Groovy, but that has not been
+tested recently.  To build for Fuerte from source, check out the
+``rosbuild`` branch instead of ``master``.
 
 .. _ROS: http://www.ros.org
 .. _Velodyne: http://www.ros.org/wiki/velodyne

diff --git a/velodyne/CHANGELOG.rst b/velodyne/CHANGELOG.rst
@@ -1,6 +1,13 @@
 Change history
 ==============
 
+1.3.0 (2017-11-10)
+------------------
+* Merge pull request `#110 <https://github.com/ros-drivers/velodyne/issues/110>`_ from kmhallen/master
+  Added velodyne_laserscan package
+* Added velodyne_laserscan package and inserted into existing launch files
+* Contributors: Jack O'Quin, Joshua Whitley, Kevin Hallenbeck
+
 1.2.0 (2014-08-06)
 ------------------
 

diff --git a/velodyne/package.xml b/velodyne/package.xml
@@ -1,11 +1,11 @@
 <package>
 
   <name>velodyne</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
     Basic ROS support for the Velodyne 3D LIDARs.
   </description>
-  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <maintainer email="jwhitley@autonomoustuff.com">Josh Whitley</maintainer>
   <author> Jack O'Quin</author>
   <license>BSD</license>
   <!--
@@ -18,6 +18,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>velodyne_driver</run_depend>
+  <run_depend>velodyne_laserscan</run_depend>
   <run_depend>velodyne_msgs</run_depend>
   <run_depend>velodyne_pointcloud</run_depend>
 

diff --git a/velodyne_driver/CHANGELOG.rst b/velodyne_driver/CHANGELOG.rst
@@ -1,6 +1,53 @@
 Change history
 ==============
 
+1.3.0 (2017-11-10)
+------------------
+* Merge pull request `#129 <https://github.com/ros-drivers/velodyne/issues/129>`_ from kmhallen/pluginlib_macro
+  Modern pluginlib macro
+* Update to use non deprecated pluginlib macro
+* add launch args to support multiple devices (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
+* Merge pull request `#101 <https://github.com/ros-drivers/velodyne/issues/101>`_ from teosnare/master
+  velodyne_driver/src/lib/input.cc : fix for device_ip filter
+* Merge pull request `#104 <https://github.com/ros-drivers/velodyne/issues/104>`_ from altrouge/launch_options
+  Add more options in launch files.
+* Rearranged alphabetically.
+* Add more options in launch files.
+  - rpm, device_ip, port, read_once, read_fast, repeat_delay
+* 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.
+* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 <https://github.com/ros-drivers/velodyne/issues/96>`_)
+* Merge pull request `#96 <https://github.com/ros-drivers/velodyne/issues/96>`_ from priyankadey/master
+  updated VLP-16 packet rate from user manual.
+* updated VLP-16 packet rate from user manual.
+  Also verified with sensor. It reduced overlap in the pointcloud
+* update change history
+* Merge pull request `#94 <https://github.com/ros-drivers/velodyne/issues/94>`_ from ros-drivers/pcap_port
+  velodyne_driver: use port number for PCAP data (`#46 <https://github.com/ros-drivers/velodyne/issues/46>`_, `#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
+* fix g++ 5.3.1 compile errors (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
+* merge current master (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
+* Merge pull request `#91 <https://github.com/ros-drivers/velodyne/issues/91>`_ from chukcha2/master
+  update velodyne_driver package description to include all models
+* update velodyne_driver package description to include all models
+* Merge pull request `#89 <https://github.com/ros-drivers/velodyne/issues/89>`_ from Tones29/feat_dynrec_driver
+  Add dynamic latency configuration to velodyne_driver
+* 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.
+* velodyne_driver: Make input destructors virtual
+* prepare change history for coming Indigo release (`#59 <https://github.com/ros-drivers/velodyne/issues/59>`_)
+* velodyne_driver: use port number for PCAP data (`#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
+* Merge pull request `#39 <https://github.com/ros-drivers/velodyne/issues/39>`_ from zooxco/multivelodyne
+  support for multiple velodynes
+* Merge pull request `#44 <https://github.com/ros-drivers/velodyne/issues/44>`_ from SISegwayRmp/master
+  adding driver and pointcloud support for the VLP16
+* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
+* adding support for the VLP16
+* parameters to set the udp port
+* fixed missing header
+* cleanup debug line
+* parameter and code added for working with multiple velodynes
+* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey
+
 1.2.0 (2014-08-06)
 ------------------
 * Fixed bug in diagnostic rate for driver (`#16
@@ -16,8 +63,7 @@ Change history
 1.1.1 (2013-07-30)
 ------------------
 
- * Add support for HDL-64E S2 and S2.1 models, which were not working
-   before (`#11`_), thanks to Gabor Meszaros (`#12`_).
+ * Add support for HDL-64E S2 and S2.1 models, which were not working before (`#11`_), thanks to Gabor Meszaros (`#12`_).
  * Add additional parameters to launch files (`#14`_).
 
 1.1.0 (2013-07-16)

diff --git a/velodyne_driver/CMakeLists.txt b/velodyne_driver/CMakeLists.txt
@@ -3,6 +3,7 @@ project(velodyne_driver)
 
 set(${PROJECT_NAME}_CATKIN_DEPS 
     diagnostic_updater
+    dynamic_reconfigure
     nodelet
     roscpp
     tf
@@ -18,6 +19,9 @@ set(libpcap_LIBRARIES -lpcap)
 
 include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 
+# Generate dynamic_reconfigure server
+generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg)
+
 # objects needed by other ROS packages that depend on this one
 catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
                INCLUDE_DIRS include

diff --git a/velodyne_driver/cfg/VelodyneNode.cfg b/velodyne_driver/cfg/VelodyneNode.cfg
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+PACKAGE = "velodyne_driver"
+NODE_NAME = "velodyne_node"
+PARAMS_NAME = "VelodyneNode"
+
+from math import pi
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("time_offset", double_t,  0, "A manually calibrated offset (in seconds) to add to the timestamp before publication of a message.",
+        0.0, -1.0, 1.0)
+
+exit(gen.generate(PACKAGE, NODE_NAME, PARAMS_NAME))
diff --git a/velodyne_driver/include/velodyne_driver/input.h b/velodyne_driver/include/velodyne_driver/input.h
@@ -2,6 +2,7 @@
  *
  *  Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
  *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
+ *  Copyright (C) 2015, Jack O'Quin
  *
  *  License: Modified BSD Software License Agreement
  *
@@ -18,7 +19,7 @@
  *
  *  Classes:
  *
- *     velodyne::Input -- pure virtual base class to access the data
+ *     velodyne::Input -- base class for accessing the data
  *                      independently of its source
  *
  *     velodyne::InputSocket -- derived class reads live data from the
@@ -34,19 +35,22 @@
 #include <unistd.h>
 #include <stdio.h>
 #include <pcap.h>
+#include <netinet/in.h>
 
 #include <ros/ros.h>
 #include <velodyne_msgs/VelodynePacket.h>
 
 namespace velodyne_driver
 {
-  static uint16_t UDP_PORT_NUMBER = 2368;
+  static uint16_t DATA_PORT_NUMBER = 2368;     // default data port
+  static uint16_t POSITION_PORT_NUMBER = 8308; // default position port
 
-  /** @brief Pure virtual Velodyne input base class */
+  /** @brief Velodyne input base class */
   class Input
   {
   public:
-    Input() {}
+    Input(ros::NodeHandle private_nh, uint16_t port);
+    virtual ~Input() {}
 
     /** @brief Read one Velodyne packet.
      *
@@ -56,22 +60,31 @@ namespace velodyne_driver
      *          -1 if end of file
      *          > 0 if incomplete packet (is this possible?)
      */
-    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt) = 0;
+    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt,
+                          const double time_offset) = 0;
+
+  protected:
+    ros::NodeHandle private_nh_;
+    uint16_t port_;
+    std::string devip_str_;
   };
 
   /** @brief Live Velodyne input from socket. */
   class InputSocket: public Input
   {
   public:
     InputSocket(ros::NodeHandle private_nh,
-                uint16_t udp_port = UDP_PORT_NUMBER);
-    ~InputSocket();
-
-    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt);
+                uint16_t port = DATA_PORT_NUMBER);
+    virtual ~InputSocket();
 
+    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, 
+                          const double time_offset);
+    void setDeviceIP( const std::string& ip );
   private:
 
+  private:
     int sockfd_;
+    in_addr devip_;
   };
 
 
@@ -84,26 +97,28 @@ namespace velodyne_driver
   {
   public:
     InputPCAP(ros::NodeHandle private_nh,
-              double packet_rate,
+              uint16_t port = DATA_PORT_NUMBER,
+              double packet_rate = 0.0,
               std::string filename="",
               bool read_once=false,
               bool read_fast=false,
               double repeat_delay=0.0);
-    ~InputPCAP();
+    virtual ~InputPCAP();
 
-    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt);
+    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, 
+                          const double time_offset);
+    void setDeviceIP( const std::string& ip );
 
   private:
-
+    ros::Rate packet_rate_;
     std::string filename_;
-    FILE *fp_;
     pcap_t *pcap_;
+    bpf_program pcap_packet_filter_;
     char errbuf_[PCAP_ERRBUF_SIZE];
     bool empty_;
     bool read_once_;
     bool read_fast_;
     double repeat_delay_;
-    ros::Rate packet_rate_;
   };
 
 } // velodyne_driver namespace

diff --git a/velodyne_driver/launch/nodelet_manager.launch b/velodyne_driver/launch/nodelet_manager.launch
@@ -1,30 +1,36 @@
 <!-- -*- mode: XML -*- -->
-<!-- start velodyne_driver/DriverNodelet in a nodelet manager
-
-     $Id$
-  -->
+<!-- start velodyne_driver/DriverNodelet in a nodelet manager -->
 
 <launch>
 
-  <!-- start nodelet manager and load driver nodelet -->
-  <node pkg="nodelet" type="nodelet" name="velodyne_nodelet_manager"
-        args="manager" />
+  <arg name="device_ip" default="" />
+  <arg name="frame_id" default="velodyne" />
+  <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
   <arg name="model" default="64E" />
   <arg name="pcap" default="" />
-  <arg name="read_once" default="false" />
+  <arg name="port" default="2368" />
   <arg name="read_fast" default="false" />
+  <arg name="read_once" default="false" />
   <arg name="repeat_delay" default="0.0" />
   <arg name="rpm" default="600.0" />
-  <arg name="frame_id" default="velodyne" />
-  <node pkg="nodelet" type="nodelet" name="driver_nodelet"
-        args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" >
+  <arg name="cut_angle" default="-0.01" />
+
+  <!-- start nodelet manager -->
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
+
+  <!-- load driver nodelet into it -->
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)_driver"
+        args="load velodyne_driver/DriverNodelet $(arg manager)" >
+    <param name="device_ip" value="$(arg device_ip)" />
+    <param name="frame_id" value="$(arg frame_id)"/>
     <param name="model" value="$(arg model)"/>
     <param name="pcap" value="$(arg pcap)"/>
-    <param name="read_once" value="$(arg read_once)"/>
+    <param name="port" value="$(arg port)" />
     <param name="read_fast" value="$(arg read_fast)"/>
+    <param name="read_once" value="$(arg read_once)"/>
     <param name="repeat_delay" value="$(arg repeat_delay)"/>
     <param name="rpm" value="$(arg rpm)"/>
-    <param name="frame_id" value="$(arg frame_id)"/>
+    <param name="cut_angle" value="$(arg cut_angle)"/>
   </node>    
 
 </launch>
diff --git a/velodyne_driver/package.xml b/velodyne_driver/package.xml
@@ -1,11 +1,12 @@
 <package>
 
   <name>velodyne_driver</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
-    ROS device driver for Velodyne HDL-64E, and HDL-32 LIDARs.
+    ROS device driver for Velodyne 3D LIDARs.
   </description>
-  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <maintainer email="jwhitley@autonomoustuff.com">Josh Whitley</maintainer>
+  <maintainer email="brice.rebsamen@gmail.com">Brice Rebsamen</maintainer>
   <author> Jack O'Quin</author>
   <author>Patrick Beeson</author>
   <author>Michael Quinlan</author>
@@ -19,6 +20,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>diagnostic_updater</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>libpcap</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>pluginlib</build_depend>
@@ -31,6 +33,7 @@
   <build_depend>rostest</build_depend>
 
   <run_depend>diagnostic_updater</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>libpcap</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>pluginlib</run_depend>

diff --git a/velodyne_driver/src/driver/CMakeLists.txt b/velodyne_driver/src/driver/CMakeLists.txt
@@ -1,5 +1,6 @@
 # build the driver node
 add_executable(velodyne_node velodyne_node.cc driver.cc)
+add_dependencies(velodyne_node velodyne_driver_gencfg)
 target_link_libraries(velodyne_node
   velodyne_input
   ${catkin_LIBRARIES}
@@ -8,6 +9,7 @@ target_link_libraries(velodyne_node
 
 # build the nodelet version
 add_library(driver_nodelet nodelet.cc driver.cc)
+add_dependencies(driver_nodelet velodyne_driver_gencfg)
 target_link_libraries(driver_nodelet
   velodyne_input
   ${catkin_LIBRARIES}