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How to update the ros driver for the Velodyne VLP-16

asked 2015-12-11 20:13:35 -0600

boyihu gravatar image


I am very new to the ROS and 3D LIDAR and today I got the Velodyne VLP-16 LIDAR from our group, somehow I can not let it working properly. Here is some detail description of my problem:

I am using ROS indigo. First we I did is to use the sample data in the flash drive and uses some ROS command ( ) to convert the data from .pcap to .pcd format in order to run some PCL functions. The sample data was from HDL32E LIDAR and I had no problem of this part since the velodyne_pointcloud folder has the 32e_points.launch file.

Next step, I saved a .pcap file from the VLP-16 LIDAR and wanted to repeat the same procedure. Somehow this time I could not make it working since there is no VLP16_points.launch file in the velodyne_pointcloud folder!!! Then I searched online and from Github I saw the newest folder of the Velodyne driver do include the VLP16_points.launch, so I wonder what procedure should I do to upgrade the Velodyne related files to the newest version?

Since I am really new to this area so all suggestions will be highly appreciated!

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answered 2015-12-12 12:43:09 -0600

kmhallen gravatar image

There has not been an Indigo release of the Velodyne packages in over a year:

To get the newer features (VLP-16 support) you will have to compile from source. Clone the velodyne repository into your workspace. Then build your workspace with catkin_make.

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That is correct. We are working on a new Indigo release that will include VLP-16 support and some other items, but it's not quite ready to go yet. Soon, I hope.

joq gravatar image joq  ( 2015-12-14 09:31:13 -0600 )edit

I am using one from github but am curious what kind of issues in the git repo, if any, prevent it from being released.

chukcha2 gravatar image chukcha2  ( 2016-03-02 16:02:12 -0600 )edit

Insufficient testing and documentation, and not enough time in my schedule. If you wish to help with the first two, please let me know.

joq gravatar image joq  ( 2016-03-02 18:01:42 -0600 )edit

I can help with that, I am using velodyne 32 and two devices of velodyne 16.

marilia15 gravatar image marilia15  ( 2016-05-19 10:05:06 -0600 )edit

That would be great. The code is nearly ready at this point, but the docs need a good review to bring everything up to date.

joq gravatar image joq  ( 2016-05-19 11:22:40 -0600 )edit

There are detailed building instructions here:

joq gravatar image joq  ( 2016-05-19 11:24:31 -0600 )edit

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Asked: 2015-12-11 20:13:35 -0600

Seen: 4,144 times

Last updated: Dec 12 '15