Package Summary

Tags No category tags.
Version 1.5.2
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 2019-06-25
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
  • Andreas Klintberg
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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged velodyne_pointcloud at answers.ros.org

Package Summary

Tags No category tags.
Version 1.5.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/velodyne.git
VCS Type git
VCS Version crystal-devel
Last Updated 2019-04-09
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Point cloud conversions for Velodyne 3D LIDARs.

Additional Links

Maintainers

  • Josh Whitley

Authors

  • Jack O'Quin
  • Piyush Khandelwal
  • Jesse Vera
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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • frame_id [default: map]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
  • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • launch/laserscan_nodelet.launch
    • -*- mode: XML -*-
      • manager [default: velodyne_nodelet_manager]
      • ring [default: -1]
      • resolution [default: 0.007]
  • 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]
      • 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: 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
  • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org

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 master
Last Updated 2019-06-26
Dev Status DEVELOPED
Released RELEASED

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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org

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 master
Last Updated 2019-06-26
Dev Status DEVELOPED
Released RELEASED

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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org

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 master
Last Updated 2019-06-26
Dev Status DEVELOPED
Released RELEASED

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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org

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 master
Last Updated 2019-06-26
Dev Status DEVELOPED
Released RELEASED

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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

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Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org

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 master
Last Updated 2019-06-26
Dev Status DEVELOPED
Released RELEASED

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, 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
  • Merge remote-tracking branch ros-drivers/master
  • Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
  • Update to use non deprecated pluginlib macro
  • Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
  • Add VLP16 Puck Hi-Res support
  • velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
  • Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
  • Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
  • Added velodyne_laserscan package and inserted into existing launch files
  • test multiple nodelet manager support (#108)
  • add launch args to support multiple devices (#108)
  • Merge pull request #105 from fudger/patch-1 Remove unused constants.
  • Merge pull request #104 from altrouge/launch_options Add more options in launch files.
  • Rearranged alphabetically.
  • Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
  • Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
  • Add more options in launch files.
    • rpm, device_ip, port, read_once, read_fast, repeat_delay
  • Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
  • update change history
  • merge current master (#94)
  • Merge pull request #92 from adasta/master GCC Build Warnings
  • Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: 'last_azimuth_diff' may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
  • Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
  • Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
  • velodyne_pointcloud: Fix compile warning \"Wrong initialization order\"
  • velodyne_pointcloud: add dynamic reconfig update to change log (#78)
  • Merge branch fudger-reconfigure_transform_node
  • velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
  • velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
  • Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
  • prepare change history for coming Indigo release (#59)
  • calibration: unit test case improvements (#84)
  • calibration: read all intensities as float, then convert (#84)
  • calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
  • calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
  • Merge pull request #76 from pomerlef/master Sign inversion in some equations
  • Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
  • fix the yaml-cpp 0.5 code paths
  • Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
  • allow horiz_offset_correction to be optional with 0 as default
  • allow floats instead of ints in min/max_intensity
  • Resolve frame ID name using tf prefix.
  • Improve coding style.
  • Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
  • Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
  • Add a missing space.
  • Fix line that always indicates use of model VLP-16.
  • Align console output of calibration data.
  • Merge branch master of https://github.com/ros-drivers/velodyne
  • resolve sign error
  • Merge pull request #73 from fudger/master Correct important data type error for VLP-16
  • Fix data type error that distorts the point cloud.
  • Fix and add a few comments.
  • Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
  • Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
  • VLP-16: skip badly formatted data packets (#62, #63)
  • restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
  • permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
  • Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
  • Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
  • Merge pull request #51 from kunlileo/master Added vertical sin angle correction
  • Added vertical sin angle correction
  • Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
  • fixed rounding bug in intensity calculation found by songshiyu
  • fix some overly long C++ source lines
  • Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
  • missed the space in the file name which caused the build to fail, removed space before extension
  • adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
  • adding support for the VLP16
  • Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
  • fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei\"s help
  • Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
  • Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
  • fixed gen_calibration min/max intensity type
  • fixed a calibration file parsing bug
  • Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

  • velodyne_pointcloud: remove model-dependent \"constants\" from rawdata.h (#28)
  • velodyne_pointcloud: change default min_range to 0.9 meters (#25)
  • Added support for YAML-CPP 0.5+ (#23).
  • Add dynamic_reconfigure feature.
  • Add angular limits to the output point cloud, useful for omitting part of it. (#22).
  • Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

  • Move unit test data to download.ros.org (#18).
  • Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

  • Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
  • Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
  • Add additional parameters to launch files (#14).
  • Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

  • Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
  • Fix errors with Mac OSX compiler (#8).
  • Install pluginlib XML files (#9).
  • Install some launch and parameter files.
  • Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

  • Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

  • Convert to catkin (#1).
  • Release to Hydro.

0.9.2 (2013-07-08)

  • Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

  • Only include \"enabled\" lasers in YAML calibration file.
  • New param subdirectory for parameter files.
  • Add launch file for the HDL-32E.
  • Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
  • Fix bug when reading configuration with default minIntensity.
  • Add unit tests with 32E data.
  • Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

  • Completely revised API, anticipating a 1.0.0 release.
  • HDL-32E device support.
  • New YAML configuration file format.
  • New velodyne_driver and velodyne_pointcloud packages.
  • Old velodyne_common and velodyne_pcl packages no longer included.
  • Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

  • Label all timing-dependent tests \"realtime\" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

  • Initial implementation of new 0.3 interfaces.
  • Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

  • Initial release to ROS C-turtle.

Wiki Tutorials

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Source Tutorials

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Launch files

  • tests/static_vehicle_tf.launch
    • -*- mode: XML -*-
  • launch/cloud_nodelet.launch
    • -*- mode: XML -*-
      • calibration [default: ]
      • manager [default: velodyne_nodelet_manager]
      • max_range [default: 130.0]
      • min_range [default: 0.9]
      • organize_cloud [default: false]
  • launch/transform_nodelet.launch
    • -*- mode: XML -*-
      • 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]
  • 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]
      • 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/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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]
      • organize_cloud [default: false]
  • 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: 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]
      • 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]
      • laserscan_ring [default: -1]
      • laserscan_resolution [default: 0.007]

Messages

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Plugins

Recent questions tagged velodyne_pointcloud at answers.ros.org