rviz not showing any data
I have installed ROS Melodic and the Velodyne Driver ros-melodic-velodyne. I haven't found a VLP-32C tutorial for the Velodyne Driver although what I see here http://wiki.ros.org/velodyne, says that the VLP-32C is supported. I used this VLP-16 tutorial and this HDL-32E tutorial but changed the input files for the VLP-32C. The output from rosrun gives an error:
$ rosrun velodyne_pointcloud gen_calibration.py 32db.xml
converting "32db.xml" to "32db.yaml" gen_calibration.py: unable to read 32db.xml
From what I found, this is fine because the as of 1.5, the yaml file is already created. This should be why I couldn't find VeloView-VLP-32C.xml.
The output from roslaunch seems fine:
$ roslaunch velodyne_pointcloud VLP-32C_points.launch calibration:=/opt/ros/melodic/share/velodyne_pointcloud/params/VeloView-VLP-32C.yaml
... logging to /home/shimron/.ros/log/51d45dac-9248-11e9-bb1c-c8d9d2836857/roslaunch-LiDAR-5140.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://LiDAR:35601/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.3
* /velodyne_nodelet_manager_cloud/calibration: /opt/ros/melodic/...
* /velodyne_nodelet_manager_cloud/max_range: 130.0
* /velodyne_nodelet_manager_cloud/min_range: 0.4
* /velodyne_nodelet_manager_driver/cut_angle: -0.01
* /velodyne_nodelet_manager_driver/device_ip:
* /velodyne_nodelet_manager_driver/frame_id: velodyne
* /velodyne_nodelet_manager_driver/model: 32C
* /velodyne_nodelet_manager_driver/pcap:
* /velodyne_nodelet_manager_driver/port: 2368
* /velodyne_nodelet_manager_driver/read_fast: False
* /velodyne_nodelet_manager_driver/read_once: False
* /velodyne_nodelet_manager_driver/repeat_delay: 0.0
* /velodyne_nodelet_manager_driver/rpm: 600.0
* /velodyne_nodelet_manager_laserscan/resolution: 0.007
* /velodyne_nodelet_manager_laserscan/ring: -1
NODES
/
velodyne_nodelet_manager (nodelet/nodelet)
velodyne_nodelet_manager_cloud (nodelet/nodelet)
velodyne_nodelet_manager_driver (nodelet/nodelet)
velodyne_nodelet_manager_laserscan (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [5150]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 51d45dac-9248-11e9-bb1c-c8d9d2836857
process[rosout-1]: started with pid [5161]
started core service [/rosout]
process[velodyne_nodelet_manager-2]: started with pid [5168]
process[velodyne_nodelet_manager_driver-3]: started with pid [5169]
process[velodyne_nodelet_manager_cloud-4]: started with pid [5170]
process[velodyne_nodelet_manager_laserscan-5]: started with pid [5172]
^X^C[velodyne_nodelet_manager_laserscan-5] killing on exit
[velodyne_nodelet_manager_cloud-4] killing on exit
[velodyne_nodelet_manager_driver-3] killing on exit
[velodyne_nodelet_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
When I run rosrun rviz rviz -f velodyne, I see the GUI but no data from the sensor. I have point cloud and point cloud 2 selected under add->rviz. I can ping the sensor.
My graphics card is GeForce GTX 1070. I tried to implement this rviz solution but from rostopic info /tfI get:
Type: tf2_msgs/TFMessage
Publishers: None
Subscribers:
* /rostopic_4686_1560947462150 (http://LiDAR:39601/)
And from rosnode info robot_state_publisher I get
--------------------------------------------------------------------------------
Node [/robot_state_publisher]
Publications: None
Subscriptions: None
Services: None
cannot contact [/robot_state_publisher]: unknown node
I did try to troubleshoot /tf and found that I should test turtle examples but those didn't work. I'm not sure if those outputs would be helpful so let me know if you'd like them. Thanks in advance for the help!
