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Some Velodyne devices provide GPS packets in addition to 3D LIDAR data.
The current ROS Velodyne package does not support those packets. I maintain that driver, but our HDL-64E has no GPS attached. With no way to test it, I am in no position to maintain that feature.
Others have expressed an interest in supporting it. I've looked at the specification. I believe it can and should be implemented as a separate driver handling only the port 8308 packets.
If you want to implement that, I would recommend starting with the nmea_gps_driver maintained by Eric Perko, and adapting it to handle the Velodyne-specific UDP packets.
| | 2 | No.2 Revision |
Some Velodyne devices provide GPS packets in addition to 3D LIDAR data.
The current ROS Velodyne package does not support those packets. I maintain that driver, but our HDL-64E has no GPS attached. With no way to test it, I am in no position to maintain that feature.
Others have expressed an interest in supporting it. I've looked at the specification. I believe it can and should be implemented as a separate driver handling only the port 8308 packets.
If you want to implement that, I would recommend starting with the nmea_gps_driver maintained by Eric Perko, and adapting it to handle the Velodyne-specific UDP packets.
EDIT: there is now an experimental gps_imu branch in the source repository. It's not yet ready to release, but user testing would be helpful. If you do try it, please post your results (both positive and negative) to issue #24.
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