ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How to convert velodyne_packets to velodyne_points to view in rviz?

asked 2015-08-26 14:15:29 -0500

eubik gravatar image

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 cloud_nodelet in the velodyne_pointcloud package, but this did not work. It did create a node when I used rostopic list. How can I convert velodyne_packets to velodyne_points in order to view the file in RViz?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2015-08-27 13:52:48 -0500

joq gravatar image

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
edit flag offensive delete link more


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?

dwolfe gravatar image dwolfe  ( 2015-10-26 22:07:09 -0500 )edit

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: .

joq gravatar image joq  ( 2015-10-27 12:41:27 -0500 )edit

Question Tools


Asked: 2015-08-26 13:08:34 -0500

Seen: 1,936 times

Last updated: Aug 27 '15