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Limiting Velodyne point cloud

asked 2016-03-15 10:50:24 -0500

b-sriram
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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 ( 2016-03-18 11:19:42 -0500 )edit

I'm building them from source

b-sriram ( 2016-03-22 03:49:29 -0500 )edit

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answered 2016-03-24 17:08:01 -0500

joq
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updated 2016-03-24 17:09:05 -0500

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 -0500

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Last updated: Mar 24 '16

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