![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.3.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2022-12-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.3.0 (2022-07-08)
-
Updating maintainer email address. (#450)
- Updating maintainer email address.
* chore: update maintainer email address Co-authored-by: Joshua Whitley <jwhitley@autonomoustuff.com>
fix: use rclcpp logger instead of perror Co-authored-by: Chris Lalancette <clalancette@gmail.com>
reuse Velodyne UDP port (#427)
Added config option to timestamp a full scan based on first velo packet instead of last packet (#436) Co-authored-by: Shawn Hanna <shawn@kaarta.com>
Replace deprecated argument names in launch (#430)
2.1.1
Updating for first Galactic release
Minor fixes to string formatting. (#396) These changes will allow velodyne to compile without warnings on Rolling (soon to be Galactic). The changes are also backwards compatible to Foxy if we want to backport them.
Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Keane Quigley, Nagy D
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Name | Repo | Deps |
---|---|---|
velodyne | github-ros-drivers-velodyne |
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | foxy-devel |
Last Updated | 2022-02-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.1.1 (2022-02-07)
- Replace deprecated argument names in launch (#435) Co-authored-by: Keane Quigley <keaneq@protonmail.com>
- Contributors: Chris Lalancette
2.1.0 (2020-07-10)
- Fixing Foxy-specific uncrustify errors.
- Contributors: Joshua Whitley
2.0.0 (2020-07-10)
- Fix dependencies in package.xml (#331) Ensure that we depend on ament_cmake_ros as appropriate.
- Fixes pointed out by clang-tidy
(#310)
- Rearrange header includes so clang-tidy is happy.
- Get rid of unnecessary void arguments on methods.
- Properly mark methods as override where appropriate.
- Initialize members and stack variables to zero before use.
- Mark function implementations in header files \'inline\'.
- Use more efficient \'empty\' method instead of empty string.
- Get rid of unnecessary else statements after a continue/return.
- Get rid of unnecessary == false use.
- Make sure to add a virtual destructor to DataContainerBase.
- Use string != comparison instead of \'compare\' method.
- Rename PointcloudXYZIR parameter name to match implementation.
- Get rid of usage of typedef.
- Be more explicit about using floats.
- Do an explicit lround to do int->float conversion.
- Fix the intensity calculation.
- Remove the azimuth from addPoint.
- Make sure to reset the cloud data to 0 before reusing.
- Use underscores on pointcloud member variables.
- Using std::lround means we don\'t need to add 0.5 to the result.
- Slightly rearrange and simplify range checks.
- Add in example launch files for VLP32C.
- Dashing fixes
(#307)
- Use std::make_unique as appropriate.
- Fix the azimuth calculation.
- Fix a crash during driver startup.
- Always recalculate the row_step while setting up the cloud.
- Make sure to call computeTransformation.
- Fix style errors pointed out by flake8.
- ROS2: Add Linters to velodyne_driver
(#301)
- Renaming files to match ROS2 conventions.
- Cleaning up velodyne_driver and fixing diags.
- velodyne_driver linting complete.
- VD: Removing unused namespace.
- Add in example launch files.
- Disable copy, move, and assign operators.
- Build the components so the velodyne can be run as a component.
- Add in NodeOptions to node constructors.
- Throw an exception for an invalid Velodyne model.
- Add explicit, final, and override to classes where appropriate.
- Switch to using nullptr everywhere.
- Pass read_once, read_fast, and repeat_delay to InputPCAP constructor.
- Change filename parameter to const reference.
- Pass the devip string into the Input* constructors.
- Move gps_time into the InputSocket class.
- Get rid of default parameters for Input* constructors.
- Rename nodes.
- Update the documentation for ROS 2.
- Switch to using the cut angle by default.
- Merge pull request #251 from clalancette/dashing-devel3 ROS 2 Dashing port
- Merge pull request #214 from spuetz/feature/opc_nopcl Container cleanup and organized pointclouds
- Merge pull request #243 from dandedrick/reconfig-enable driver: add enabled reconfigure param
- Merge pull request #234 from kmhallen/c++11 Set minimum C++ standard to C++11
- Merge pull request #231 from ros-drivers/ci/test_better_output CI: Adding roslint as separate step. Limiting output of catkin build.
- Merge pull request #227 from ros-drivers/roslint Applying roslint to velodyne_pointcloud.
- Merge pull request #225 from ros-drivers/roslint Adding roslint to velodyne_driver.
- Merge pull request #222 from mpitropov/feat_Use_GPS_time Add flag to enable using GPS time from within the Velodyne packet instead of ROS time for scan.
- Merge pull request #220 from nbussas/static Transform static variable into member
- Merge pull request #216 from ros-drivers/maint/poll_timeout_handling Testing reporting error instead of stopping node on disconnect.
- Contributors: Andreas Klintberg, Chris Lalancette, Dan Dedrick, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Nils Hauke Bussas, Sebastian, Sebastian P
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.3.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2022-12-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.3.0 (2022-07-08)
-
Updating maintainer email address. (#450)
- Updating maintainer email address.
* chore: update maintainer email address Co-authored-by: Joshua Whitley <jwhitley@autonomoustuff.com>
fix: use rclcpp logger instead of perror Co-authored-by: Chris Lalancette <clalancette@gmail.com>
reuse Velodyne UDP port (#427)
Added config option to timestamp a full scan based on first velo packet instead of last packet (#436) Co-authored-by: Shawn Hanna <shawn@kaarta.com>
Replace deprecated argument names in launch (#430)
2.1.1
Updating for first Galactic release
Minor fixes to string formatting. (#396) These changes will allow velodyne to compile without warnings on Rolling (soon to be Galactic). The changes are also backwards compatible to Foxy if we want to backport them.
Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Keane Quigley, Nagy D
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Name | Repo | Deps |
---|---|---|
velodyne | github-ros-drivers-velodyne |
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-12-17 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.7.0 (2022-07-08)
-
Fix non-responsive node on packet timeout (#466) * No abort on packet timeout Changed getPacket() to return 0 on timeout and 1 on success.
- Removed trailing whitespace
reuse Velodyne UDP port (#427)
add missing include to pcap.h that prevents tests from being built (#406)
-
PCAP timestamps & PCAP+GPS timestamps (#384)
- Add pcap_time param and implement gps_time with it
- If gps_time == true, ignore pcap_time
-
Add support for the velodyne Alpha Prime (#370)
- Add support for the velodyne Alpha Prime
- Change packet rate for the VLS128 according to the times specified in the manual
- Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128.
* Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de>
Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy D
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- pcap_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]
- diagnostic_frequency_tolerance [default: 0.1]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.5.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2021-05-13 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.5.2 (2019-01-28)
- Merge pull request #212 from ros-drivers/maint/vdump_as_root Modifying vdump script for use as root. Tested by \@andersfischernielsen.
- Merge pull request #205 from xiesc/master support for 64E-S3
- Contributors: Joshua Whitley, Shichao XIE, xiesc
1.5.1 (2018-12-10)
1.5.0 (2018-10-19)
- Merge pull request #187 from moooeeeep/master Fixed sign error in return value of InputSocket::getPacket()
- bugfix: getPacket() function is expected to return negative value on error
- Contributors: Fabian Maas, Joshua Whitley
1.4.0 (2018-09-19)
- Merge pull request #178 from sts-thm/bugfix_issue_#174 Bugfix issue #174
- Removed debug outputs
- Changes fixing deadlock for specific cut_angle values.
- Merge pull request #135 from cfneuhaus/bugfix Bugfix: when no device ip is set, we still want to filter by udp port.
- Merge pull request #170 from ros-drivers/maint/move_header_files Moving header files to traditional location inside include folders.
- Merge pull request #160 from ros-drivers/maint/updating_package_xml_to_v2
- Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. All package.xml files are now compatible with version 2 of the package.xml specification in REP 140. Removed some unnecessary execute permissions on a few files. Fixed a missing test_depend.
- Merge pull request #151 from Axel13fr/feature/No_Communication_Diag_Update
- Fix packet rate for the Velodyne 32C
- Conventions: adding name for unused method parameter.
- Added a periodic update of the diagnostics so that when no data is received at all from the Velodyne, a diagnostic information will be published. The previous implementation would publish diagnostics only on packet reception.
- Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
- Merge pull request #138 from volkandre/cut_at_specified_angle_feature
- cut_angle parameter is now in rad according to REP 103
- Fixed timestamp related bug found by \@cfneuhaus, which was described here: https://github.com/ros-drivers/velodyne/pull/126#discussion_r154137793
- bugfix: when no device ip is set, we still want to filter by udp port.
- Contributors: Andre Volk, CNR, Denis Dillenberger, Frank Neuhaus, Jack O\'Quin, Joshua Whitley, Sammy Pfeiffer, Tobias Athmer, axd, kennouni
1.3.0 (2017-11-10)
- Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
- Update to use non deprecated pluginlib macro
- add launch args to support multiple devices (#108)
- Merge pull request #101 from teosnare/master velodyne_driver/src/lib/input.cc : fix for device_ip filter
- Merge pull request #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)
- Merge pull request #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 from ros-drivers/pcap_port velodyne_driver: use port number for PCAP data (#46, #66)
- fix g++ 5.3.1 compile errors (#94)
- merge current master (#94)
- Merge pull request #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 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)
- velodyne_driver: use port number for PCAP data (#66)
- Merge pull request #39 from zooxco/multivelodyne support for multiple velodynes
- Merge pull request #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)
- Contributors: Brice Rebsamen, Jack O\'Quin
1.1.2 (2013-11-05)
1.1.1 (2013-07-30)
1.1.0 (2013-07-16)
- Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct
pcl_conversions
is installed.- Fix errors with Mac OSX compiler (#8).
- Install
pluginlib
XML files (#9).- Install some launch and parameter files.
- Enable unit tests when
CATKIN_ENABLE_TESTING
is set (#10).
1.0.1 (2013-06-15)
- Declare explicit
pluginlib
dependency (#4).
1.0.0 (2013-06-14)
- Convert to catkin (#1).
- Release to Hydro.
0.9.2 (2013-07-08)
- Fix Groovy build problem (#7).
0.9.1 (2012-06-05)
- Driver socket read path improvements.
- Add unit tests with 32E data.
- Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
- Completely revised API, anticipating a 1.0.0 release.
- HDL-32E device support.
- New velodyne_driver and velodyne_pointcloud packages.
- Old velodyne_common and velodyne_pcl packages no longer included.
- Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
- Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.
0.2.5 (2010-11-19)
- Initial implementation of new 0.3 interfaces.
- Support for ROS 1.3 std_msgs::Header changes.
0.2.0 (2010-08-17)
- Initial release to ROS C-turtle.
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.5.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | crystal-devel |
Last Updated | 2019-04-09 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.5.2 (2019-01-28)
- Merge pull request #212 from ros-drivers/maint/vdump_as_root Modifying vdump script for use as root. Tested by \@andersfischernielsen.
- Merge pull request #205 from xiesc/master support for 64E-S3
- Contributors: Joshua Whitley, Shichao XIE, xiesc
1.5.1 (2018-12-10)
1.5.0 (2018-10-19)
- Merge pull request #187 from moooeeeep/master Fixed sign error in return value of InputSocket::getPacket()
- bugfix: getPacket() function is expected to return negative value on error
- Contributors: Fabian Maas, Joshua Whitley
1.4.0 (2018-09-19)
- Merge pull request #178 from sts-thm/bugfix_issue_#174 Bugfix issue #174
- Removed debug outputs
- Changes fixing deadlock for specific cut_angle values.
- Merge pull request #135 from cfneuhaus/bugfix Bugfix: when no device ip is set, we still want to filter by udp port.
- Merge pull request #170 from ros-drivers/maint/move_header_files Moving header files to traditional location inside include folders.
- Merge pull request #160 from ros-drivers/maint/updating_package_xml_to_v2
- Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. All package.xml files are now compatible with version 2 of the package.xml specification in REP 140. Removed some unnecessary execute permissions on a few files. Fixed a missing test_depend.
- Merge pull request #151 from Axel13fr/feature/No_Communication_Diag_Update
- Fix packet rate for the Velodyne 32C
- Conventions: adding name for unused method parameter.
- Added a periodic update of the diagnostics so that when no data is received at all from the Velodyne, a diagnostic information will be published. The previous implementation would publish diagnostics only on packet reception.
- Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
- Merge pull request #138 from volkandre/cut_at_specified_angle_feature
- cut_angle parameter is now in rad according to REP 103
- Fixed timestamp related bug found by \@cfneuhaus, which was described here: https://github.com/ros-drivers/velodyne/pull/126#discussion_r154137793
- bugfix: when no device ip is set, we still want to filter by udp port.
- Contributors: Andre Volk, CNR, Denis Dillenberger, Frank Neuhaus, Jack O\'Quin, Joshua Whitley, Sammy Pfeiffer, Tobias Athmer, axd, kennouni
1.3.0 (2017-11-10)
- Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
- Update to use non deprecated pluginlib macro
- add launch args to support multiple devices (#108)
- Merge pull request #101 from teosnare/master velodyne_driver/src/lib/input.cc : fix for device_ip filter
- Merge pull request #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)
- Merge pull request #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 from ros-drivers/pcap_port velodyne_driver: use port number for PCAP data (#46, #66)
- fix g++ 5.3.1 compile errors (#94)
- merge current master (#94)
- Merge pull request #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 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)
- velodyne_driver: use port number for PCAP data (#66)
- Merge pull request #39 from zooxco/multivelodyne support for multiple velodynes
- Merge pull request #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)
- Contributors: Brice Rebsamen, Jack O\'Quin
1.1.2 (2013-11-05)
1.1.1 (2013-07-30)
1.1.0 (2013-07-16)
- Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct
pcl_conversions
is installed.- Fix errors with Mac OSX compiler (#8).
- Install
pluginlib
XML files (#9).- Install some launch and parameter files.
- Enable unit tests when
CATKIN_ENABLE_TESTING
is set (#10).
1.0.1 (2013-06-15)
- Declare explicit
pluginlib
dependency (#4).
1.0.0 (2013-06-14)
- Convert to catkin (#1).
- Release to Hydro.
0.9.2 (2013-07-08)
- Fix Groovy build problem (#7).
0.9.1 (2012-06-05)
- Driver socket read path improvements.
- Add unit tests with 32E data.
- Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
- Completely revised API, anticipating a 1.0.0 release.
- HDL-32E device support.
- New velodyne_driver and velodyne_pointcloud packages.
- Old velodyne_common and velodyne_pcl packages no longer included.
- Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
- Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.
0.2.5 (2010-11-19)
- Initial implementation of new 0.3 interfaces.
- Support for ROS 1.3 std_msgs::Header changes.
0.2.0 (2010-08-17)
- Initial release to ROS C-turtle.
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- cut_angle [default: -0.01]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.3.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2022-12-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.3.0 (2022-07-08)
-
Updating maintainer email address. (#450)
- Updating maintainer email address.
* chore: update maintainer email address Co-authored-by: Joshua Whitley <jwhitley@autonomoustuff.com>
fix: use rclcpp logger instead of perror Co-authored-by: Chris Lalancette <clalancette@gmail.com>
reuse Velodyne UDP port (#427)
Added config option to timestamp a full scan based on first velo packet instead of last packet (#436) Co-authored-by: Shawn Hanna <shawn@kaarta.com>
Replace deprecated argument names in launch (#430)
2.1.1
Updating for first Galactic release
Minor fixes to string formatting. (#396) These changes will allow velodyne to compile without warnings on Rolling (soon to be Galactic). The changes are also backwards compatible to Foxy if we want to backport them.
Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Keane Quigley, Nagy D
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Name | Repo | Deps |
---|---|---|
velodyne | github-ros-drivers-velodyne |
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | dashing-devel |
Last Updated | 2020-07-18 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.0.0 (2020-07-10)
- Fix dependencies in package.xml (#331) Ensure that we depend on ament_cmake_ros as appropriate.
- Fixes pointed out by clang-tidy
(#310)
- Rearrange header includes so clang-tidy is happy.
- Get rid of unnecessary void arguments on methods.
- Properly mark methods as override where appropriate.
- Initialize members and stack variables to zero before use.
- Mark function implementations in header files \'inline\'.
- Use more efficient \'empty\' method instead of empty string.
- Get rid of unnecessary else statements after a continue/return.
- Get rid of unnecessary == false use.
- Make sure to add a virtual destructor to DataContainerBase.
- Use string != comparison instead of \'compare\' method.
- Rename PointcloudXYZIR parameter name to match implementation.
- Get rid of usage of typedef.
- Be more explicit about using floats.
- Do an explicit lround to do int->float conversion.
- Fix the intensity calculation.
- Remove the azimuth from addPoint.
- Make sure to reset the cloud data to 0 before reusing.
- Use underscores on pointcloud member variables.
- Using std::lround means we don\'t need to add 0.5 to the result.
- Slightly rearrange and simplify range checks.
- Add in example launch files for VLP32C.
- Dashing fixes
(#307)
- Use std::make_unique as appropriate.
- Fix the azimuth calculation.
- Fix a crash during driver startup.
- Always recalculate the row_step while setting up the cloud.
- Make sure to call computeTransformation.
- Fix style errors pointed out by flake8.
- ROS2: Add Linters to velodyne_driver
(#301)
- Renaming files to match ROS2 conventions.
- Cleaning up velodyne_driver and fixing diags.
- velodyne_driver linting complete.
- VD: Removing unused namespace.
- Add in example launch files.
- Disable copy, move, and assign operators.
- Build the components so the velodyne can be run as a component.
- Add in NodeOptions to node constructors.
- Throw an exception for an invalid Velodyne model.
- Add explicit, final, and override to classes where appropriate.
- Switch to using nullptr everywhere.
- Pass read_once, read_fast, and repeat_delay to InputPCAP constructor.
- Change filename parameter to const reference.
- Pass the devip string into the Input* constructors.
- Move gps_time into the InputSocket class.
- Get rid of default parameters for Input* constructors.
- Rename nodes.
- Update the documentation for ROS 2.
- Switch to using the cut angle by default.
- Merge pull request #251 from clalancette/dashing-devel3 ROS 2 Dashing port
- Merge pull request #214 from spuetz/feature/opc_nopcl Container cleanup and organized pointclouds
- Merge pull request #243 from dandedrick/reconfig-enable driver: add enabled reconfigure param
- Merge pull request #234 from kmhallen/c++11 Set minimum C++ standard to C++11
- Merge pull request #231 from ros-drivers/ci/test_better_output CI: Adding roslint as separate step. Limiting output of catkin build.
- Merge pull request #227 from ros-drivers/roslint Applying roslint to velodyne_pointcloud.
- Merge pull request #225 from ros-drivers/roslint Adding roslint to velodyne_driver.
- Merge pull request #222 from mpitropov/feat_Use_GPS_time Add flag to enable using GPS time from within the Velodyne packet instead of ROS time for scan.
- Merge pull request #220 from nbussas/static Transform static variable into member
- Merge pull request #216 from ros-drivers/maint/poll_timeout_handling Testing reporting error instead of stopping node on disconnect.
- Contributors: Andreas Klintberg, Chris Lalancette, Dan Dedrick, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Nils Hauke Bussas, Sebastian, Sebastian P
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Name | Repo | Deps |
---|---|---|
velodyne | github-ros-drivers-velodyne |
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 2.3.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2022-12-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
- Andreas Klintberg
Velodyne ROS 2 driver
This is a ROS 2 driver for Velodyne devices. It currently supports the 64E(S2, S2.1, S3), the 32E, the 32C, and the VLP-16. This driver is responsible for taking the data from the Velodyne and combining it into one message per revolution. To turn that raw data into a pointcloud or laserscan, see the velodyne_pointcloud and velodyne_laserscan packages.
Published Topics
-
/velodyne_packets
(velodyne_msgs/VelodyneScan
) - The raw data from one full revolution of the sensor.
Parameters
-
device_ip
(string) - The IP address that the Velodyne is on. From the factory, this is 192.168.1.201. -
gps_time
(bool) - Whether to use data capture time from a GPS, or from the local time. Should only be set to True if a GPS is attached to the Velodyne. False by default. -
time_offset
(double) - An arbitrary "skew", in seconds, to add to the acquisition timestamp. Defaults to 0.0. -
enabled
(bool) - Whether the device should start-up enabled or not. Defaults to True. -
read_once
(bool) - Whether to only playback the data once (True) or continuously (False). Only used in PCAP playback mode. Defaults to False. -
read_fast
(bool) - Whether to output the data as fast as possible, (True), or sleep the appropriate delay between packets (False). Only used in PCAP playback mode. Defaults to False. -
repeat_delay
(double) - The time to wait between repeats in continuous playback mode. Only used in PCAP playback mode. Defaults to 0.0. -
frame_id
(string) - The frame_id to use when constructing the header for the packet to be published. Defaults to "velodyne". -
model
(string) - The model number of the Velodyne attached. This should be one of64E
,64E_S2
,64E_S2.1
,64E_S3
,32E
,32C
, orVLP16
. Defaults to64E
. -
rpm
(double) - The RPM that the Velodyne is configured for. Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface. -
pcap
(string) - The PCAP playback file to use to playback data from. Only used in PCAP playback mode. Defaults to the empty string. -
cut_angle
(double) - The azimuth angle at which to declare a single rotation complete. If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation. This mostly works, but can vary because of variations in the hardware. If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value. Defaults to 2*Pi. -
port
(int) - The port on which to receive data from the Velodyne. From the factory, the Velodyne is configured to publish data on 2368. Defaults to 2368.
Change history
2.3.0 (2022-07-08)
-
Updating maintainer email address. (#450)
- Updating maintainer email address.
* chore: update maintainer email address Co-authored-by: Joshua Whitley <jwhitley@autonomoustuff.com>
fix: use rclcpp logger instead of perror Co-authored-by: Chris Lalancette <clalancette@gmail.com>
reuse Velodyne UDP port (#427)
Added config option to timestamp a full scan based on first velo packet instead of last packet (#436) Co-authored-by: Shawn Hanna <shawn@kaarta.com>
Replace deprecated argument names in launch (#430)
2.1.1
Updating for first Galactic release
Minor fixes to string formatting. (#396) These changes will allow velodyne to compile without warnings on Rolling (soon to be Galactic). The changes are also backwards compatible to Foxy if we want to backport them.
Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Keane Quigley, Nagy D
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake_ros | |
1 | ament_cmake_gtest | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
2 | diagnostic_msgs | |
1 | diagnostic_updater | |
1 | rclcpp | |
1 | rclcpp_components | |
3 | tf2_ros | |
1 | velodyne_msgs |
System Dependencies
Name |
---|
libpcap |
Dependant Packages
Name | Repo | Deps |
---|---|---|
velodyne | github-ros-drivers-velodyne |
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-12-17 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.7.0 (2022-07-08)
-
Fix non-responsive node on packet timeout (#466) * No abort on packet timeout Changed getPacket() to return 0 on timeout and 1 on success.
- Removed trailing whitespace
reuse Velodyne UDP port (#427)
add missing include to pcap.h that prevents tests from being built (#406)
-
PCAP timestamps & PCAP+GPS timestamps (#384)
- Add pcap_time param and implement gps_time with it
- If gps_time == true, ignore pcap_time
-
Add support for the velodyne Alpha Prime (#370)
- Add support for the velodyne Alpha Prime
- Change packet rate for the VLS128 according to the times specified in the manual
- Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128.
* Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de>
Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy D
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- pcap_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]
- diagnostic_frequency_tolerance [default: 0.1]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-12-17 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.7.0 (2022-07-08)
-
Fix non-responsive node on packet timeout (#466) * No abort on packet timeout Changed getPacket() to return 0 on timeout and 1 on success.
- Removed trailing whitespace
reuse Velodyne UDP port (#427)
add missing include to pcap.h that prevents tests from being built (#406)
-
PCAP timestamps & PCAP+GPS timestamps (#384)
- Add pcap_time param and implement gps_time with it
- If gps_time == true, ignore pcap_time
-
Add support for the velodyne Alpha Prime (#370)
- Add support for the velodyne Alpha Prime
- Change packet rate for the VLS128 according to the times specified in the manual
- Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128.
* Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de>
Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy D
Wiki Tutorials
Source Tutorials
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- pcap_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]
- diagnostic_frequency_tolerance [default: 0.1]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-12-17 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.7.0 (2022-07-08)
-
Fix non-responsive node on packet timeout (#466) * No abort on packet timeout Changed getPacket() to return 0 on timeout and 1 on success.
- Removed trailing whitespace
reuse Velodyne UDP port (#427)
add missing include to pcap.h that prevents tests from being built (#406)
-
PCAP timestamps & PCAP+GPS timestamps (#384)
- Add pcap_time param and implement gps_time with it
- If gps_time == true, ignore pcap_time
-
Add support for the velodyne Alpha Prime (#370)
- Add support for the velodyne Alpha Prime
- Change packet rate for the VLS128 according to the times specified in the manual
- Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128.
* Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de>
Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy D
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- pcap_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]
- diagnostic_frequency_tolerance [default: 0.1]
Messages
Services
Plugins
Recent questions tagged velodyne_driver at answers.ros.org
![]() |
velodyne_driver package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.5.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2021-05-13 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
- Brice Rebsamen
Authors
- Jack O'Quin
- Patrick Beeson
- Michael Quinlan
- Yaxin Liu
Change history
1.5.2 (2019-01-28)
- Merge pull request #212 from ros-drivers/maint/vdump_as_root Modifying vdump script for use as root. Tested by \@andersfischernielsen.
- Merge pull request #205 from xiesc/master support for 64E-S3
- Contributors: Joshua Whitley, Shichao XIE, xiesc
1.5.1 (2018-12-10)
1.5.0 (2018-10-19)
- Merge pull request #187 from moooeeeep/master Fixed sign error in return value of InputSocket::getPacket()
- bugfix: getPacket() function is expected to return negative value on error
- Contributors: Fabian Maas, Joshua Whitley
1.4.0 (2018-09-19)
- Merge pull request #178 from sts-thm/bugfix_issue_#174 Bugfix issue #174
- Removed debug outputs
- Changes fixing deadlock for specific cut_angle values.
- Merge pull request #135 from cfneuhaus/bugfix Bugfix: when no device ip is set, we still want to filter by udp port.
- Merge pull request #170 from ros-drivers/maint/move_header_files Moving header files to traditional location inside include folders.
- Merge pull request #160 from ros-drivers/maint/updating_package_xml_to_v2
- Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. All package.xml files are now compatible with version 2 of the package.xml specification in REP 140. Removed some unnecessary execute permissions on a few files. Fixed a missing test_depend.
- Merge pull request #151 from Axel13fr/feature/No_Communication_Diag_Update
- Fix packet rate for the Velodyne 32C
- Conventions: adding name for unused method parameter.
- Added a periodic update of the diagnostics so that when no data is received at all from the Velodyne, a diagnostic information will be published. The previous implementation would publish diagnostics only on packet reception.
- Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
- Merge pull request #138 from volkandre/cut_at_specified_angle_feature
- cut_angle parameter is now in rad according to REP 103
- Fixed timestamp related bug found by \@cfneuhaus, which was described here: https://github.com/ros-drivers/velodyne/pull/126#discussion_r154137793
- bugfix: when no device ip is set, we still want to filter by udp port.
- Contributors: Andre Volk, CNR, Denis Dillenberger, Frank Neuhaus, Jack O\'Quin, Joshua Whitley, Sammy Pfeiffer, Tobias Athmer, axd, kennouni
1.3.0 (2017-11-10)
- Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
- Update to use non deprecated pluginlib macro
- add launch args to support multiple devices (#108)
- Merge pull request #101 from teosnare/master velodyne_driver/src/lib/input.cc : fix for device_ip filter
- Merge pull request #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)
- Merge pull request #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 from ros-drivers/pcap_port velodyne_driver: use port number for PCAP data (#46, #66)
- fix g++ 5.3.1 compile errors (#94)
- merge current master (#94)
- Merge pull request #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 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)
- velodyne_driver: use port number for PCAP data (#66)
- Merge pull request #39 from zooxco/multivelodyne support for multiple velodynes
- Merge pull request #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)
- Contributors: Brice Rebsamen, Jack O\'Quin
1.1.2 (2013-11-05)
1.1.1 (2013-07-30)
1.1.0 (2013-07-16)
- Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct
pcl_conversions
is installed.- Fix errors with Mac OSX compiler (#8).
- Install
pluginlib
XML files (#9).- Install some launch and parameter files.
- Enable unit tests when
CATKIN_ENABLE_TESTING
is set (#10).
1.0.1 (2013-06-15)
- Declare explicit
pluginlib
dependency (#4).
1.0.0 (2013-06-14)
- Convert to catkin (#1).
- Release to Hydro.
0.9.2 (2013-07-08)
- Fix Groovy build problem (#7).
0.9.1 (2012-06-05)
- Driver socket read path improvements.
- Add unit tests with 32E data.
- Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
- Completely revised API, anticipating a 1.0.0 release.
- HDL-32E device support.
- New velodyne_driver and velodyne_pointcloud packages.
- Old velodyne_common and velodyne_pcl packages no longer included.
- Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
- Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.
0.2.5 (2010-11-19)
- Initial implementation of new 0.3 interfaces.
- Support for ROS 1.3 std_msgs::Header changes.
0.2.0 (2010-08-17)
- Initial release to ROS C-turtle.
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/nodelet_manager.launch
- -*- mode: XML -*-
-
- device_ip [default: ]
- frame_id [default: velodyne]
- manager [default: $(arg frame_id)_nodelet_manager]
- model [default: 64E]
- pcap [default: ]
- port [default: 2368]
- read_fast [default: false]
- read_once [default: false]
- repeat_delay [default: 0.0]
- rpm [default: 600.0]
- gps_time [default: false]
- cut_angle [default: -0.01]
- timestamp_first_packet [default: false]