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How to convert velodyne_packets to velodyne_points to view in rviz?

asked 2015-08-26 14:15:29 -0500

eubik
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I am currently working with the VLP-16 and am having some issues. I have saved our lidar (with external GPS) data into a pcap file using Wireshark.I converted it into a bag file, but am unable to play it in RViz since it only contains velodyne_packets.

So far, I've launched the cloud_nodelet in the velodyne_pointcloud package, but this did not work. It did create a node when I used rostopic list. How can I convert velodyne_packets to velodyne_points in order to view the file in RViz?

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answered 2015-08-27 13:52:48 -0500

joq
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You're close, the cloud node or nodelet will do what you want.

In addition to that program, you need to run rosbag play on the file where you saved /velodyne_packets, something like this:

rosrun rosbag play --clock saved_velodyne_packets.bag

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When I run the cloud node ( rosrun velodyne_pointcloud cloud_node _calibration:=/home/abe/velodyne/src/velodyne-master/velodyne_pointcloud/params/VLP16db.yaml ) it runs until I start playing the rosbag that contains the velodye_packets. it does a core dump when i try. Any suggestions?

dwolfe ( 2015-10-26 22:07:09 -0500 )edit

There may be a bug in the velodyne_pointcloud package. VLP-16 support is recent and not yet released, so it's not as well tested as the other device models. Please open an issue here: https://github.com/ros-drivers/velody... .

joq ( 2015-10-27 12:41:27 -0500 )edit

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Asked: 2015-08-26 13:08:34 -0500

Seen: 1,930 times

Last updated: Aug 27 '15

How to convert velodyne_packets to velodyne_points to view in rviz? edit

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How to convert velodyne_packets to velodyne_points to view in rviz?