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capture only 360º from velodyne HDL32E [closed]

asked 2014-02-16 22:20:10 -0600

marilia15 gravatar image

I've followed the tutorial [Getting Started with the Velodyne HDL-32E] and I can get a video in real time from velodyne doing:

  1. sudo ifconfig eth0 <-- IP for my PC
  2. sudo route add eth0 <-- velodyne IP
  3. roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/vic/32db.yaml
  4. rosrun rviz rviz -f velodyne > configure as the tutorial said.

It works fine, but I need to process the data from a static 360º scene, not from the video. So I need a program which do:

  1. capture a 360º from velodyne
  2. process the data
  3. again capture a new 360º scene

Which ROS command should I use? Thanks in advance.

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Closed for the following reason the question is answered, right answer was accepted by marilia15
close date 2014-03-19 00:21:09

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answered 2014-02-19 13:31:06 -0600

joq gravatar image

Each message in the /velodyne_points topic contains all the data from a complete revolution of the device.

If you write a ROS node that subscribes to that topic, your subscription callback will be called each time a new message arrives. That happens at 10 Hz with the device spinning at the default 600 RPM rate.

Here is an example node that reads the point cloud for each revolution, looking for points within some grid cells that significantly differ in the Z axis.

You can figure out from that how to write your own subscriber node.

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Asked: 2014-02-16 22:20:10 -0600

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Last updated: Feb 19 '14