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 | 1 | initial version |
The velodyne_pointcloud package is currently in active development. We hope to release a complete version soon, but until then you should only use it experimentally.
As part of this redesign, the velodyne_common package will soon be deprecated. If you want to try the new, experimental packages, there is a driver nodelet that goes with velodyne_pointcloud (start the nodelet manager first):
<node pkg="nodelet" type="nodelet" name="driver_nodelet"
args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" />
There is currently an active design review for the velodyne stack. Please sign up and contribute your ideas and suggestions.
| | 2 | give reason for frame transformation |
The velodyne_pointcloud package is currently in active development. We hope to release a complete version soon, but until then you should only use it experimentally.
As part of this redesign, the velodyne_common package will soon be deprecated. If you want to try the new, experimental packages, there is a driver nodelet that goes with velodyne_pointcloud (start the nodelet manager first):
<node pkg="nodelet" type="nodelet" name="driver_nodelet"
args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" />
There is currently an active design review for the velodyne stack. Please sign up and contribute your ideas and suggestions.
EDIT:
The main purpose of the transform nodelet is transforming data from a moving device into some stationary coordinate frame. The Velodyne turns at 10Hz, so the vehicle can move far enough to affect registration during a compete revolution. REP-0105 recommends the /odom frame for that purpose. Since your needs may vary, the frame_id parameter is provided.
If you just want the data converted to sensor_msgs/PointCloud2 in the /velodyne frame, the velodyne_pointcloud/Cloud2Nodelet should suffice.
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