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Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
eloquent

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
dashing

API Docs
Browse Code

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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.0.0 (2020-07-10)

  • More fixing of dependencies. (#333)
    • More fixing of dependencies.
  • 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.
  • A few more minor style updates. (#308)
    • Get rid of the last users of new in the codebase
    • Get rid of the users of 'using' in the codebase
    • Rename 'calibrationFile' -> 'calibration_file'
  • 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_pointcloud (#304)
    • VP: Renaming files.
    • VP: Fixed copyrights.
    • VP: cpplint is satisfied!
    • VP: Converted gen_calibration.py to Python3.
    • Uncrustify fixed!
    • VP: Lint errors clear.
    • VP: Moving organized_cloud and pointcloud to lib and building as library.
  • Check for intra-process subscribers
  • 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.
  • Only find the "common" component to PCL.
  • Make sure to install the header files for laserscan and pointcloud.
  • Properly setup the row_step.
  • Add explicit, final, and override to classes where appropriate.
  • Remove organize_cloud, fixed_frame, and target_frame configs.
  • Stop storing view_{direction,width} in the Node classes.
  • Stop storing {min,max}_range in the Node classes.
  • Make DataContainerBase::configure const reference string parameters.
  • Switch argument order to always be (min,max)
  • Remove tmp_{min,max}_angle from stored RawData config.
  • Remove unused tf_ptr.
  • Switch container_ptr to a unique_ptr.
  • container_ptr -> container_ptr_
  • Don't store number of lasers in the Transfrom/Convert node.
  • Make the RawData class RAII-style.
  • Make RawData::setup not return the number of lasers.
  • Remove unused laser_corrections_maps.
  • Remove the calibration read method.
  • Make the Calibration class only have the RAII-style constructor.
  • Remove unnecessary ros_info parameter from Calibration.
  • Remove unused calibration write method.
  • Remove unused setupOffline method.
  • Remove calibrationFile from rawdata config.
  • Switch to using nullptr everywhere.
  • fixed timpepoint issue
  • Remove dead store from rawdata.cc
  • Rename nodes.
  • Switch organize_cloud to true by default.
  • Update the documentation for ROS 2.
  • Remove debugging statements.
  • Fix dead pointers in calibration.cc.
  • 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 #236 from mpitropov/fix_transform_node_frame_bug set correct output frame
  • Merge pull request #234 from

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
galactic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
foxy

API Docs
Browse Code

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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

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)

2.0.0 (2020-07-10)

  • More fixing of dependencies. (#333)
    • More fixing of dependencies.
  • 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.
  • A few more minor style updates. (#308)
    • Get rid of the last users of new in the codebase
    • Get rid of the users of 'using' in the codebase
    • Rename 'calibrationFile' -> 'calibration_file'
  • 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_pointcloud (#304)
    • VP: Renaming files.
    • VP: Fixed copyrights.
    • VP: cpplint is satisfied!
    • VP: Converted gen_calibration.py to Python3.
    • Uncrustify fixed!
    • VP: Lint errors clear.
    • VP: Moving organized_cloud and pointcloud to lib and building as library.
  • Check for intra-process subscribers
  • 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.
  • Only find the "common" component to PCL.
  • Make sure to install the header files for laserscan and pointcloud.
  • Properly setup the row_step.
  • Add explicit, final, and override to classes where appropriate.
  • Remove organize_cloud, fixed_frame, and target_frame configs.
  • Stop storing view_{direction,width} in the Node classes.
  • Stop storing {min,max}_range in the Node classes.
  • Make DataContainerBase::configure const reference string parameters.
  • Switch argument order to always be (min,max)
  • Remove tmp_{min,max}_angle from stored RawData config.
  • Remove unused tf_ptr.
  • Switch container_ptr to a unique_ptr.
  • container_ptr -> container_ptr_
  • Don't store number of lasers in the Transfrom/Convert node.
  • Make the RawData class RAII-style.
  • Make RawData::setup not return the number of lasers.
  • Remove unused laser_corrections_maps.
  • Remove the calibration read method.
  • Make the Calibration class only have the RAII-style constructor.
  • Remove unnecessary ros_info parameter from Calibration.
  • Remove unused calibration write method.
  • Remove unused setupOffline method.
  • Remove calibrationFile from rawdata config.
  • Switch to using nullptr everywhere.
  • fixed timpepoint issue
  • Remove dead store from rawdata.cc
  • Rename nodes.
  • Switch organize_cloud to true by default.
  • Update the documentation for ROS 2.
  • Remove debugging statements.
  • Fix dead pointers in calibration.cc.
  • Merge pull request #251 from

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
iron

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud

ROS Distro
lunar

API Docs
Browse Code
Wiki

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 2023-06-01
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.7.0 (2022-07-08)

  • build timings in offline setup (#428) Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. This commit does the following:

    • call buildTimings from setupOffline function
    • add model to setupOffline interface
    • set config model param which is needed by buildTimings

  • vls128: add line only once all four banks are processed (#413)

  • PCAP timestamps & PCAP+GPS timestamps (#384)

    • Add pcap_time param and implement gps_time with it
    • If gps_time == true, ignore pcap_time

  • Fixed row_step=0 when init_width=0 (dense cloud) (#404) The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html Referred issues:

  • Fix accidental integer division (#391) Intensity values for VLP-16 were being calculated incorrectly.

  • Add VLS128 launch and calibration file (#382)

  • Fixing incorrect type in velodyne_pointcloud.

  • Fixing typo.

  • 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: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe

1.6.1 (2020-11-09)

  • Add invalid points in organized cloud (#360)

    • Set NaN in ordered point cloud in case of no return
    • Adapt to current master

    * consider min/max angle and timing_offsets also in organized mode Co-authored-by: Nuernberg Thomas (CR/AEV4) <<thomas.nuernberg@de.bosch.com>>

  • build and export library data_containers so it can be used in other packages (#359)

  • Contributors: Sebastian Scherer

1.6.0 (2020-07-09)

  • Unify tf frame parameters between transform and cloud nodes (#344)

    • Unify tf frame parameters between transform and cloud nodes
    • Use more common ROS terminology instead of 'htm'
    • Just use tf listener when necessary
    • Migrate package to tf2
    • Explicitly store sensor frame in a dedicated variable to make code easier to read

    * Avoid unnecessary transforms when sensor_frame == target_frame Co-authored-by: anre <<andreas.reich@unibw.de>>

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • add README.md with infos for conversion

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLS128_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLS128.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • fixed_frame [default: ]
      • target_frame [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.5.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-31
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

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
velodyne_pointcloud/README.md

Velodyne ROS 2 raw to pointcloud converters

This is a ROS 2 package that takes raw velodyne data as output by the velodyne_driver node, and converts it into a sensor_msgs/PointCloud2 message.

There are two different nodes here:

velodyne_convert_node - This node takes in the raw data and converts it to a pointcloud immediately. velodyne_transform_node - This node takes the raw data and converts it only when a corresponding tf message with a compatible timestamp has arrived.

The topics and parameters for both nodes are identical, so they’ll be described together below.

Published Topics

  • velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Subscribed Topics

  • velodyne_packets (velodyne_msgs/VelodyneScan) - The raw velodyne packets coming from the velodyne_driver.

Parameters

  • calibration (string) - The path to the calibration file for the particular device. There are a set of default calibration files to start with in the “params” subdirectory in this package. Defaults to the empty string.
  • min_range (double) - The minimum range in meters that a point must be to be added to the resulting point cloud. Points closer than this are discarded. Must be between 0.1 and 10.0. Defaults to 0.9.
  • max_range (double) - The maximum range in meters that a point must be to be added to the resulting point cloud. Points further away than this are discarded. Must be between 0.1 and 200.0. Defaults to 130.0.
  • view_direction (double) - The point around the circumference of the device, in radians, to “center” the view. Combined with view_width, this allows the node to generate a pointcloud only for the given width, centered at this point. This can vastly reduce the CPU requirements of the node. Must be between -Pi and Pi, where 0 is straight ahead from the device. Defaults to 0.0.
  • view_width (double) - The width, in radians, of the view to generate for the resulting pointcloud. Combined with view_direction, this allows the node to generate a pointcloud only for the given width, centered at the view_direction point. This can vastly reduce the CPU requirements of the node. Must be between 0 and 2Pi. Defaults to 2Pi.
  • organize_cloud (bool) - Whether to organize the cloud by ring (True), or to use the order as it comes directly from the driver (False). Defaults to True.
  • target_frame (string) - The coordinate frame to apply to the generated point cloud header before publishing. If the empty string (the default), the frame is passed along from the driver packet. If this frame is different than the fixed_frame, a transformation to this coordinate frame is performed while creating the pointcloud.
  • fixed_frame (string) - The fixed coordinate frame to transform the data from.
CHANGELOG

Change history

2.5.1 (2024-10-31)

  • Fix compiling on RHEL-8. (#549)
  • Contributors: Chris Lalancette

2.5.0 (2024-10-30)

  • Clalancette/cmake cleanups (#546)
  • Fix exports (#535)
  • Add in the Eigen dependency to velodyne_pointcloud (#545)
  • Add package to compile in Jazzy (#539)
  • Feature script add two pt ros2 (#498)
  • delete unused valiable (#529)
  • Add vert offset corrections to VLP16 calib file (#518)
  • Fix double-include.
  • feat: support vls128 for ros2 (#493)
  • Update rolling ci (#512) (#513)
  • Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Mateusz Szczygielski, Pierrick Koch, Taiga Takano, Thomas Emter, g-kurz

2.4.0 (2023-05-27)

2.3.0 (2022-07-08)

  • Passing fixed_frame and target_frame to Convert object. (#330) (#451) Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Updating maintainer email address. (#450)

    • Updating maintainer email address.

    * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

  • Add per point time field

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud

ROS Distro
indigo

API Docs
Browse Code
Wiki

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 2023-06-01
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.7.0 (2022-07-08)

  • build timings in offline setup (#428) Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. This commit does the following:

    • call buildTimings from setupOffline function
    • add model to setupOffline interface
    • set config model param which is needed by buildTimings

  • vls128: add line only once all four banks are processed (#413)

  • PCAP timestamps & PCAP+GPS timestamps (#384)

    • Add pcap_time param and implement gps_time with it
    • If gps_time == true, ignore pcap_time

  • Fixed row_step=0 when init_width=0 (dense cloud) (#404) The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html Referred issues:

  • Fix accidental integer division (#391) Intensity values for VLP-16 were being calculated incorrectly.

  • Add VLS128 launch and calibration file (#382)

  • Fixing incorrect type in velodyne_pointcloud.

  • Fixing typo.

  • 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: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe

1.6.1 (2020-11-09)

  • Add invalid points in organized cloud (#360)

    • Set NaN in ordered point cloud in case of no return
    • Adapt to current master

    * consider min/max angle and timing_offsets also in organized mode Co-authored-by: Nuernberg Thomas (CR/AEV4) <<thomas.nuernberg@de.bosch.com>>

  • build and export library data_containers so it can be used in other packages (#359)

  • Contributors: Sebastian Scherer

1.6.0 (2020-07-09)

  • Unify tf frame parameters between transform and cloud nodes (#344)

    • Unify tf frame parameters between transform and cloud nodes
    • Use more common ROS terminology instead of 'htm'
    • Just use tf listener when necessary
    • Migrate package to tf2
    • Explicitly store sensor frame in a dedicated variable to make code easier to read

    * Avoid unnecessary transforms when sensor_frame == target_frame Co-authored-by: anre <<andreas.reich@unibw.de>>

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • add README.md with infos for conversion

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLS128_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLS128.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • fixed_frame [default: ]
      • target_frame [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud

ROS Distro
hydro

API Docs
Browse Code
Wiki

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 2023-06-01
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.7.0 (2022-07-08)

  • build timings in offline setup (#428) Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. This commit does the following:

    • call buildTimings from setupOffline function
    • add model to setupOffline interface
    • set config model param which is needed by buildTimings

  • vls128: add line only once all four banks are processed (#413)

  • PCAP timestamps & PCAP+GPS timestamps (#384)

    • Add pcap_time param and implement gps_time with it
    • If gps_time == true, ignore pcap_time

  • Fixed row_step=0 when init_width=0 (dense cloud) (#404) The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html Referred issues:

  • Fix accidental integer division (#391) Intensity values for VLP-16 were being calculated incorrectly.

  • Add VLS128 launch and calibration file (#382)

  • Fixing incorrect type in velodyne_pointcloud.

  • Fixing typo.

  • 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: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe

1.6.1 (2020-11-09)

  • Add invalid points in organized cloud (#360)

    • Set NaN in ordered point cloud in case of no return
    • Adapt to current master

    * consider min/max angle and timing_offsets also in organized mode Co-authored-by: Nuernberg Thomas (CR/AEV4) <<thomas.nuernberg@de.bosch.com>>

  • build and export library data_containers so it can be used in other packages (#359)

  • Contributors: Sebastian Scherer

1.6.0 (2020-07-09)

  • Unify tf frame parameters between transform and cloud nodes (#344)

    • Unify tf frame parameters between transform and cloud nodes
    • Use more common ROS terminology instead of 'htm'
    • Just use tf listener when necessary
    • Migrate package to tf2
    • Explicitly store sensor frame in a dedicated variable to make code easier to read

    * Avoid unnecessary transforms when sensor_frame == target_frame Co-authored-by: anre <<andreas.reich@unibw.de>>

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • add README.md with infos for conversion

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLS128_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLS128.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • fixed_frame [default: ]
      • target_frame [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
kinetic

API Docs
Browse Code
Wiki

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 Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.5.2 (2019-01-28)

  • Merge pull request #205 from xiesc/master support for 64E-S3
  • add an example yaml file for S3
  • Contributors: Joshua Whitley, Shichao XIE, xiesc

1.5.1 (2018-12-10)

  • Merge pull request #194 from ros-drivers/avoid_unnecessary_computation Avoid unnecessary computation - causes approximately 20% performance increase on VLP-32C - should be similar for other sensors
  • std::vector<>::reserve is your friend
  • add static to avoid frequence memory allocation
  • avoid unecesary calculations in unpack()
  • Contributors: Davide Faconti, Joshua Whitley

1.5.0 (2018-10-19)

  • Merge pull request #164 from ros-drivers/maint/vlp_32c_support Adding VLP-32C support. This was tested by AutonomouStuff and several external users. Though it does not include new information that I've learned (it appears that the distance resolution is different <50m vs >=50m), it is a good start.
  • Merge pull request #189 from kveretennicov/patch-1
  • Fix malformed plugin description XML ROS pluginlib only recognizes multiple <library> elements if they are under <class_libraries> XML root. It silently ignores malformed XMLs with multiple <library> "root"s and just reads the first one, due to relaxed way tinyxml2 does parsing. Though if you do [rosrun nodelet declared_nodelets]{.title-ref}, the issue is reported properly. See also similar issue in https://github.com/ros-perception/perception_pcl/issues/131
  • Adding distance_resolution to test yaml files.
  • Adding VLP-32C support. Based on work done by \@rockcdr. Adds distance_resolution calibration value to support 0.004m distance resolution for VLP-32C.
  • Contributors: Joshua Whitley, Konstantin Veretennicov

1.4.0 (2018-09-19)

  • Merge pull request #178 from sts-thm/bugfix_issue_#174 Bugfix issue #174
  • Merge pull request #177 from C-NR/feature/WrapPointcloudData Feature/wrap pointcloud data
  • Changes fixing deadlock for specific cut_angle values.
  • moved definition of VPoint and VPointCloud back to namespace rawdata in rawdata.h
  • put a wrapper around pointcloud data including a generic setter method to enable the use of arbitrary data structures (pcl pointcloud, depth image, octomaps and so on) to be filled by just using RawData::unpack method with the wrapper object as parameter
  • 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 #136 from stsundermann/patch-1 Use std::abs instead of abs
  • Adding missing 32C configuration file.
  • Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
  • Merge pull request #138 from volkandre/cut_at_specified_angle_feature Cut at specified angle feature
  • Updated default cut_angle parameters in launch files after switching from deg to rad.
  • Use std::abs instead of abs abs is the c version which returns an integer. This is probably not intended here, so use the templated std::abs function.
  • Contributors: Andre Volk, Autonomoustuff Developer, CNR, Joshua Whitley, Kyle Rector, Stephan Sundermann, Tobias Athmer, kennouni

1.3.0 (2017-11-10)

  • Merge pull request #110 from kmhallen/master Added velodyne_laserscan package

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • fixed_frame [default: velodyne]
      • target_frame [default: velodyne]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • frame_id [default: map]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

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velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.5.2 (2019-01-28)

  • Merge pull request #205 from xiesc/master support for 64E-S3
  • add an example yaml file for S3
  • Contributors: Joshua Whitley, Shichao XIE, xiesc

1.5.1 (2018-12-10)

  • Merge pull request #194 from ros-drivers/avoid_unnecessary_computation Avoid unnecessary computation - causes approximately 20% performance increase on VLP-32C - should be similar for other sensors
  • std::vector<>::reserve is your friend
  • add static to avoid frequence memory allocation
  • avoid unecesary calculations in unpack()
  • Contributors: Davide Faconti, Joshua Whitley

1.5.0 (2018-10-19)

  • Merge pull request #164 from ros-drivers/maint/vlp_32c_support Adding VLP-32C support. This was tested by AutonomouStuff and several external users. Though it does not include new information that I've learned (it appears that the distance resolution is different <50m vs >=50m), it is a good start.
  • Merge pull request #189 from kveretennicov/patch-1
  • Fix malformed plugin description XML ROS pluginlib only recognizes multiple <library> elements if they are under <class_libraries> XML root. It silently ignores malformed XMLs with multiple <library> "root"s and just reads the first one, due to relaxed way tinyxml2 does parsing. Though if you do [rosrun nodelet declared_nodelets]{.title-ref}, the issue is reported properly. See also similar issue in https://github.com/ros-perception/perception_pcl/issues/131
  • Adding distance_resolution to test yaml files.
  • Adding VLP-32C support. Based on work done by \@rockcdr. Adds distance_resolution calibration value to support 0.004m distance resolution for VLP-32C.
  • Contributors: Joshua Whitley, Konstantin Veretennicov

1.4.0 (2018-09-19)

  • Merge pull request #178 from sts-thm/bugfix_issue_#174 Bugfix issue #174
  • Merge pull request #177 from C-NR/feature/WrapPointcloudData Feature/wrap pointcloud data
  • Changes fixing deadlock for specific cut_angle values.
  • moved definition of VPoint and VPointCloud back to namespace rawdata in rawdata.h
  • put a wrapper around pointcloud data including a generic setter method to enable the use of arbitrary data structures (pcl pointcloud, depth image, octomaps and so on) to be filled by just using RawData::unpack method with the wrapper object as parameter
  • 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 #136 from stsundermann/patch-1 Use std::abs instead of abs
  • Adding missing 32C configuration file.
  • Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
  • Merge pull request #138 from volkandre/cut_at_specified_angle_feature Cut at specified angle feature
  • Updated default cut_angle parameters in launch files after switching from deg to rad.
  • Use std::abs instead of abs abs is the c version which returns an integer. This is probably not intended here, so use the templated std::abs function.
  • Contributors: Andre Volk, Autonomoustuff Developer, CNR, Joshua Whitley, Kyle Rector, Stephan Sundermann, Tobias Athmer, kennouni

1.3.0 (2017-11-10)

  • Merge pull request #110 from kmhallen/master Added velodyne_laserscan package

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • fixed_frame [default: velodyne]
      • target_frame [default: velodyne]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • frame_id [default: map]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

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Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange

Package symbol

velodyne_pointcloud package from velodyne repo

velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud

ROS Distro
noetic

API Docs
Browse Code
Wiki

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 2023-06-01
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Sebastian Pütz
README
No README found. See repository README.
CHANGELOG

Change history

1.7.0 (2022-07-08)

  • build timings in offline setup (#428) Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. This commit does the following:

    • call buildTimings from setupOffline function
    • add model to setupOffline interface
    • set config model param which is needed by buildTimings

  • vls128: add line only once all four banks are processed (#413)

  • PCAP timestamps & PCAP+GPS timestamps (#384)

    • Add pcap_time param and implement gps_time with it
    • If gps_time == true, ignore pcap_time

  • Fixed row_step=0 when init_width=0 (dense cloud) (#404) The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html Referred issues:

  • Fix accidental integer division (#391) Intensity values for VLP-16 were being calculated incorrectly.

  • Add VLS128 launch and calibration file (#382)

  • Fixing incorrect type in velodyne_pointcloud.

  • Fixing typo.

  • 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: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe

1.6.1 (2020-11-09)

  • Add invalid points in organized cloud (#360)

    • Set NaN in ordered point cloud in case of no return
    • Adapt to current master

    * consider min/max angle and timing_offsets also in organized mode Co-authored-by: Nuernberg Thomas (CR/AEV4) <<thomas.nuernberg@de.bosch.com>>

  • build and export library data_containers so it can be used in other packages (#359)

  • Contributors: Sebastian Scherer

1.6.0 (2020-07-09)

  • Unify tf frame parameters between transform and cloud nodes (#344)

    • Unify tf frame parameters between transform and cloud nodes
    • Use more common ROS terminology instead of 'htm'
    • Just use tf listener when necessary
    • Migrate package to tf2
    • Explicitly store sensor frame in a dedicated variable to make code easier to read

    * Avoid unnecessary transforms when sensor_frame == target_frame Co-authored-by: anre <<andreas.reich@unibw.de>>

  • Velodyne pcl (#335)

    • fix time assignment in organized cloud container
    • add velodyne_pcl package with point_types.h
    • add README.md with infos for conversion

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/32e_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/32db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/64e_S3.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/64e_s3-xiesc.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/VLP-32C_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLP16_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/VLS128_points.launch
    • -*- mode: XML -*-
      • calibration [default: $(find velodyne_pointcloud)/params/VLS128.yaml]
      • device_ip [default: ]
      • frame_id [default: velodyne]
      • manager [default: $(arg frame_id)_nodelet_manager]
      • max_range [default: 200.0]
      • min_range [default: 0.4]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • model [default: ]
      • calibration [default: ]
      • fixed_frame [default: ]
      • target_frame [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at Robotics Stack Exchange