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Vlp32 #139

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merged 3 commits into from
Jan 5, 2018
Merged

Vlp32 #139

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6281d25
initial commit
kennouni Jan 4, 2018
2966518
change readme
ASDeveloper00 Jan 4, 2018
bf8f4d7
removed config file
ASDeveloper00 Jan 4, 2018
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2 changes: 1 addition & 1 deletion README.rst
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Expand Up @@ -2,7 +2,7 @@ Overview
========

Velodyne_ is a collection of ROS_ packages supporting `Velodyne high
definition 3D LIDARs`_.
definition 3D LIDARs`_ .

**Warning**::

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5 changes: 5 additions & 0 deletions velodyne_driver/src/driver/driver.cc
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Expand Up @@ -53,6 +53,11 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
packet_rate = 1808.0;
model_full_name = std::string("HDL-") + config_.model;
}
else if (config_.model == "32C")
{
packet_rate = 1808.0;
model_full_name = std::string("VLP-") + config_.model;
}
else if (config_.model == "VLP16")
{
packet_rate = 754; // 754 Packets/Second for Last or Strongest mode 1508 for dual (VLP-16 User Manual)
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51 changes: 51 additions & 0 deletions velodyne_pointcloud/launch/VLP-32C_points.launch
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@@ -0,0 +1,51 @@
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLP-32C -->

<launch>

<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml"/>
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It seems like this parameter file is missing from this PR.

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Thanks for catching this, @trainman419.

@ASDeveloper00 - Please add this file ASAP.

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Nevermind. I realized I have it as well. @trainman419 - It has been added.

<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<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="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />

<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="32C"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
</include>

<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>

<!-- start laserscan nodelet -->
<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
<arg name="manager" value="$(arg manager)" />
<arg name="ring" value="$(arg laserscan_ring)"/>
<arg name="resolution" value="$(arg laserscan_resolution)"/>
</include>

</launch>