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 : http://ros.org/wiki/velodyne #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 255.255.255.0. #Quick way with Docker You need to have docker installed : docker install.

Then run the container :

docker run -it \
        --rm \
        --net host \
        virgiletn/ros-kinetic-vlp16

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 https://github.com/ros-drivers/velodyne.git

Then run

catkin_make

#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 gen_calibration.py 16db.xml
Clone this wiki locally
You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.
Press h to open a hovercard with more details.