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Connect two HDL32e together

asked 2016-03-16 08:07:19 -0500

b-sriram gravatar image

updated 2016-03-16 08:34:35 -0500


I have two HDL 32e velodyne laser scanners and I connected using a switch to my computer.

I ran the velodyne package and I'm getting the pointcloud.

The problem is both the pointclouds of the different HDL's are getting combined.

Is there a possibility to seperate the pointclouds as I want to use tf and build a map?

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answered 2016-03-16 09:58:59 -0500

lucasw gravatar image

updated 2016-03-16 09:59:35 -0500

It looks like there is a parameter called device_ip:

  private_nh.param("device_ip", devip, std::string(""));
    ROS_INFO_STREAM("Set device ip to " << devip << ", only accepting packets from this address." );

It isn't used by any of the launch files, so you would have to add it to nodelet_manager.launch (and pass it down from a launch file that includes that one), and then you would launch it separately for each ip, and likely put each launch into a separate namespace. If you get it working you should try to get the changes merged into the repository.

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That parameter was added fairly recently. A pull request adding it to the appropriate launch files would be welcome.

joq gravatar image joq  ( 2016-03-18 12:24:08 -0500 )edit

hi @lucasw, thanks, I managed to get it working.

@joq I don't know how to do a "pull request". I can share the changes with you.

b-sriram gravatar image b-sriram  ( 2016-03-22 13:17:29 -0500 )edit

You probably just git cloned and made changes to it? You could paste the changes into an answer here (they won't fit in comments), but I highly recommend making a github account if you don't have one, and then you fork the velodyne repository...

lucasw gravatar image lucasw  ( 2016-03-22 15:05:03 -0500 )edit

... then git clone it and copy your changes in, and then after pushing them in there will be a green pull request button on your github velodyne page.

lucasw gravatar image lucasw  ( 2016-03-22 15:06:13 -0500 )edit

Yes, it's really not hard, and it saves a lot of time for a busy maintainer (like me). :-)

joq gravatar image joq  ( 2016-03-22 17:14:04 -0500 )edit

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Asked: 2016-03-16 08:07:19 -0500

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Last updated: Mar 16 '16