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 of 64E, 64E_S2, 64E_S2.1, 64E_S3, 32E, 32C, or VLP16. Defaults to 64E.
• 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

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)

• Move unit test data to download.ros.org (#18).
• Install missing vdump script (#17).

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 additional parameters to launch files (#14).

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.