understanding velodyne_pointcloud package [closed]
I have read and test the manual of this package in hydro but I have several questions I hope you can help.
1. What do the RingColors node and nodelet do? There is no documentation in the package.
2. The 32e_points.launch file call the driver and the conversor in the same code but it still require the intern messages in topic /velodyne_packets (VelodyneScan.msg). Can I fuse these processes without the intern messages? Fusing the two nodelets in one?
And now several questions about the nodelet TransformNode executing with rosrun nodelet nodelet standalone velodyne_pointcloud/TransformNode.
3. Which code is executed? /hydro/lib/libtransform_nodelet.so ? or /shared/velodyne_pointcloud/launch/transform_nodelet.launch?
4. Can I insert parameters such as frame_id? or the parameter are fixed?
5. TransformNode with frame_id=/velodyne is exactly the same process as cloud_node?
6. What is the frame_id? Is not a field in the message. But it is required for visualization with rviz.
Thanks in advance