No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.6.1
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 2020-11-09
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

The velodyne_pcl package

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Sebastian Pütz

PointCloud2 to PCL PointCloud Conversion

Convert sensor_msgs::PointCloud2 objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT> objects.

The sensor_msgs::PointCloud2 ROS message is constructed by using the PointcloudXYZIRT, or the OrganizedCloudXYZIRT container. Both define the following channels:

  • x - The x coord in Cartesian coordinates
  • y - The y coord in Cartesian coordinates
  • z - The z coord in Cartesian coordinates
  • intensity - The measured intensity at the point
  • ring - The ring number of the laser
  • time - The time stamp of the measured point

To convert a sensor_msgs::PointCloud2 published by the velodyne driver to PCL you could use the following code:

#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>

void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){

  pcl::PCLPointCloud2 pcl_pointcloud2;
  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);

  // use pcl_cloud_ptr
}

CHANGELOG

Changelog for package velodyne_pcl

1.6.1 (2020-11-09)

  • Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
  • Contributors: Matthew Hannay

1.6.0 (2020-07-09)

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • rename containers to cover the added time property
    • Adding roslint to velodyne_pcl. (#1)
    • Update CMake version to 3.5

    * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

  • Contributors: Sebastian P

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pcl at answers.ros.org

No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.6.1
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 2020-11-09
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

The velodyne_pcl package

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Sebastian Pütz

PointCloud2 to PCL PointCloud Conversion

Convert sensor_msgs::PointCloud2 objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT> objects.

The sensor_msgs::PointCloud2 ROS message is constructed by using the PointcloudXYZIRT, or the OrganizedCloudXYZIRT container. Both define the following channels:

  • x - The x coord in Cartesian coordinates
  • y - The y coord in Cartesian coordinates
  • z - The z coord in Cartesian coordinates
  • intensity - The measured intensity at the point
  • ring - The ring number of the laser
  • time - The time stamp of the measured point

To convert a sensor_msgs::PointCloud2 published by the velodyne driver to PCL you could use the following code:

#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>

void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){

  pcl::PCLPointCloud2 pcl_pointcloud2;
  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);

  // use pcl_cloud_ptr
}

CHANGELOG

Changelog for package velodyne_pcl

1.6.1 (2020-11-09)

  • Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
  • Contributors: Matthew Hannay

1.6.0 (2020-07-09)

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • rename containers to cover the added time property
    • Adding roslint to velodyne_pcl. (#1)
    • Update CMake version to 3.5

    * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

  • Contributors: Sebastian P

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pcl at answers.ros.org

No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.6.1
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 2020-11-09
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

The velodyne_pcl package

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Sebastian Pütz

PointCloud2 to PCL PointCloud Conversion

Convert sensor_msgs::PointCloud2 objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT> objects.

The sensor_msgs::PointCloud2 ROS message is constructed by using the PointcloudXYZIRT, or the OrganizedCloudXYZIRT container. Both define the following channels:

  • x - The x coord in Cartesian coordinates
  • y - The y coord in Cartesian coordinates
  • z - The z coord in Cartesian coordinates
  • intensity - The measured intensity at the point
  • ring - The ring number of the laser
  • time - The time stamp of the measured point

To convert a sensor_msgs::PointCloud2 published by the velodyne driver to PCL you could use the following code:

#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>

void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){

  pcl::PCLPointCloud2 pcl_pointcloud2;
  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);

  // use pcl_cloud_ptr
}

CHANGELOG

Changelog for package velodyne_pcl

1.6.1 (2020-11-09)

  • Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
  • Contributors: Matthew Hannay

1.6.0 (2020-07-09)

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • rename containers to cover the added time property
    • Adding roslint to velodyne_pcl. (#1)
    • Update CMake version to 3.5

    * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

  • Contributors: Sebastian P

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pcl at answers.ros.org

Package Summary

Tags No category tags.
Version 1.6.1
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 2020-11-09
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

The velodyne_pcl package

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Sebastian Pütz

PointCloud2 to PCL PointCloud Conversion

Convert sensor_msgs::PointCloud2 objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT> objects.

The sensor_msgs::PointCloud2 ROS message is constructed by using the PointcloudXYZIRT, or the OrganizedCloudXYZIRT container. Both define the following channels:

  • x - The x coord in Cartesian coordinates
  • y - The y coord in Cartesian coordinates
  • z - The z coord in Cartesian coordinates
  • intensity - The measured intensity at the point
  • ring - The ring number of the laser
  • time - The time stamp of the measured point

To convert a sensor_msgs::PointCloud2 published by the velodyne driver to PCL you could use the following code:

#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>

void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){

  pcl::PCLPointCloud2 pcl_pointcloud2;
  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);

  // use pcl_cloud_ptr
}

CHANGELOG

Changelog for package velodyne_pcl

1.6.1 (2020-11-09)

  • Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
  • Contributors: Matthew Hannay

1.6.0 (2020-07-09)

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • rename containers to cover the added time property
    • Adding roslint to velodyne_pcl. (#1)
    • Update CMake version to 3.5

    * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

  • Contributors: Sebastian P

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pcl at answers.ros.org