Velodyne ROS

virgile Daugé edited this page Mar 6, 2017 · 19 revisions

Velodyne is a collection of ROS packages supporting Velodyne high definition 3D LIDARs. They produce a ROS Topic '/velodyne_points' of PointCloud2 type containning Updated wiki can be found here : #Network configuration Your ip need to be static and set to 192.168.1.X (X cannot be 201 if the VLP is set so). the mask must be set to /24 or #Quick way with Docker You need to have docker installed : docker install.

Then run the container :

docker run -it \
        --rm \
        --net host \

The container will automatically use default calibration file (for the vlp i'm currently using).

Classic way (Install on computer)

Required ros packages :

  • diagnostic-updater
sudo apt-get install ros-kinetic-diagnostic-updater
  • angles
sudo apt-get install ros-kinetic-angles

Required libraries :

  • libyaml-cpp-dev
sudo apt-get install libyaml-cpp-dev
  • libpcap-dev
sudo apt-get install libpcap-dev

Velodyne nodes

in 'catkin_ws/src/'

git clone

Then run


#How to run it

Running VLP16 lidar reader

This node reads broadcasted data from the sensor and publish them to /velodyne_points ###Launching the node

roslaunch velodyne_pointcloud VLP16_points.launch calibration:=/pathTo/vlp16cf.yaml

As you can see, it need a calibration file provided by constructor in the USB stick as an XML file. You have to convert it into YAML like that :

rosrun velodyne_pointcloud 16db.xml
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