How to convert velodyne_packets to velodyne_points to view in rviz?
I am currently working with the VLP-16 and am having some issues. I have saved our lidar (with external GPS) data into a pcap file using Wireshark.I converted it into a bag file, but am unable to play it in RViz since it only contains velodyne_packets.
So far, I've launched the cloudnodelet in the velodynepointcloud package, but this did not work. It did create a node when I used rostopic list. How can I convert velodynepackets to velodynepoints in order to view the file in RViz?
Asked by eubik on 2015-08-26 13:08:34 UTC
Answers
You're close, the cloud node or nodelet will do what you want.
In addition to that program, you need to run rosbag play on the file where you saved /velodyne_packets, something like this:
rosrun rosbag play --clock saved_velodyne_packets.bag
Asked by joq on 2015-08-27 13:52:48 UTC
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When I run the cloud node ( rosrun velodyne_pointcloud cloud_node _calibration:=/home/abe/velodyne/src/velodyne-master/velodyne_pointcloud/params/VLP16db.yaml ) it runs until I start playing the rosbag that contains the velodye_packets. it does a core dump when i try. Any suggestions?
Asked by dwolfe on 2015-10-26 22:07:09 UTC
There may be a bug in the velodyne_pointcloud package. VLP-16 support is recent and not yet released, so it's not as well tested as the other device models. Please open an issue here: https://github.com/ros-drivers/velodyne/issues/new .
Asked by joq on 2015-10-27 12:41:27 UTC
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