Limiting Velodyne point cloud

edit

It works for me.

Run the driver in one terminal (with a PCAP or using the raw device):

roslaunch velodyne_pointcloud 32e_points.launch pcap:=~/Downloads/velodyne/32e.pcap

Run rviz in another.

In a third terminal run rqt.

• select Plugins>>Configuration>>Dynamic Reconfigure
• click on the cloud_nodelet
• set view_width to something less than 2*PI
• set view_direction to the desired angle (0 is straight ahead)