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Convert Raw Velodyne VLP16 pcap to bagFile

asked 2015-07-07 16:51:38 -0600

Droter gravatar image


I have some raw velodyne VLP16 data in a pcap file. Is there a way to convert it to a ros bagFile?

Here is a link to the raw log file:



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answered 2015-07-08 19:50:04 -0600

joq gravatar image

updated 2018-01-02 09:22:56 -0600

There is preliminary VLP16 support in the ROS velodyne driver, but it is not yet released.

Update: VLP-16 support is now released as binary packages in both Indigo and Kinetic.

Since that version is not released, you would need to build it from source in a catkin workspace. (Ask if you don't know how to do that.)

Once you have built that driver in your catkin workspace, run these commands in separate terminal windows:



rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=/your/pcap/path/data.pcap _read_once:=true


rosrun rosbag record -O your_vlp16_070815.bag /velodyne_packets

See the rosbag record documentation for other options and details.

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I built my driver into my catkin workspace but after executing the first rosrun "rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=/your/pcap/path/data.pcap _read_once:=true" it gives me a fatal error (Error opening Velodyne socket dump file). Any suggestions as to why?

dwolfe gravatar image dwolfe  ( 2015-07-20 19:15:55 -0600 )edit

Is the path to your PCAP file correct?

joq gravatar image joq  ( 2015-07-21 16:55:02 -0600 )edit

yes that was the problem. Thanks. It seems like the last two commands should be run simultaneously. Is that True? In order to capture the whole pcap file? or does it not matter? Is this only recording the velodyne packets? no points show up when i rosbag play the file in rviz

dwolfe gravatar image dwolfe  ( 2015-07-23 18:39:15 -0600 )edit

All three commands should be run in separate terminal windows. To get all the packets, you should probably start the velodyne_driver several seconds after starting rosbag.

joq gravatar image joq  ( 2015-07-23 21:02:32 -0600 )edit

Once I have the bag file how can I view it?

dwolfe gravatar image dwolfe  ( 2015-07-30 15:18:01 -0600 )edit

Use rosbag play to publish /velodyne_packets, then use velodyne_pointcloud and rviz to view the results, as if using with the actual device.

joq gravatar image joq  ( 2015-07-31 15:46:05 -0600 )edit

After I run the second command, it says "[ERROR] [1485795341.945746381]: unknown Velodyne LIDAR model: VLP16" Do you have any idea?

Bill5785 gravatar image Bill5785  ( 2017-01-30 10:57:56 -0600 )edit

Please open a new page to ask a new question.

joq gravatar image joq  ( 2017-01-30 16:52:05 -0600 )edit

answered 2016-10-31 07:16:02 -0600

Pelacho gravatar image

Hello there, I get Velodyne poll() timeout I'm sure my pcap file is there and I know it's a VLP16 file

pelacho@ubuntu:~/catkin_ws$ rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:= /home/velodyne.pcap _read_once:=true

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Please open a new page to ask a new question.

joq gravatar image joq  ( 2016-10-31 10:01:42 -0600 )edit

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Asked: 2015-07-07 16:51:38 -0600

Seen: 10,046 times

Last updated: Jan 02 '18