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Limiting Velodyne point cloud

asked 2016-03-15 10:50:24 -0600

b-sriram gravatar image

The view_direction and view_width parameters updated for HDL32 doesn't seem to work. Has anyone tried it?

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Are you installing the binary driver packages, or building it yourself from source?

joq gravatar image joq  ( 2016-03-18 11:19:42 -0600 )edit

I'm building them from source

b-sriram gravatar image b-sriram  ( 2016-03-22 03:49:29 -0600 )edit

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answered 2016-03-24 17:08:01 -0600

joq gravatar image

updated 2016-03-24 17:09:05 -0600

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)
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Asked: 2016-03-15 10:50:24 -0600

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Last updated: Mar 24 '16