How to get the same data structure as in Veloview with VLP16?

Hi there everyone, I am starting with ROS and a VLP16, sorry in advance.

I am able to create comunication with the VLP16 velodynedriver, using "roslaunch velodynepointcloud VLP16points.launch" and then, watch the pointcloud with rviz, "rosrun rviz rviz -f velodyne". After that, I can record a bag file using "rosrun rosbag record -O filename.bag /velodyne_points".

My question is simple. I want to have a readable log for each frame or package-data (csv for example) with the same structure as Veloview can give us, i.e. XYZ, intensity, laserid, distancem, azimuth, adjustedtime, timestamp. But I do not know if with my bag file, I have this information.

Thank you very much for your help.

Asked by siaca on 2016-10-11 10:57:56 UTC

Comments

Hey man, I'm having the same problem, did you ever get anywhere with this, and the azimuth and adjusted time?

Asked by roonocerus on 2017-01-14 22:51:05 UTC

Answers

The velodyne_packets topic contains all the information provided by the device, but you'd need to write some code to unpack it in the format you specified.

If you want to create a utility to do that, by all means submit a pull request.

Asked by joq on 2016-10-11 12:01:28 UTC

Comments

Thank you very much for your response. At the moment, I can make a log file with XYZ intensity and ring, but this is not enough for the algorithm I am working on. I need at least, the azimuth and adjustedtime data field.

Asked by siaca on 2016-10-12 07:19:52 UTC