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Hey,
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?
It looks like there is a parameter called device_ip:
private_nh.param("device_ip", devip, std::string(""));
if(!devip.empty())
ROS_INFO_STREAM("Set device ip to " << devip << ", only accepting packets from this address." );
input_->setDeviceIP(devip);
https://github.com/ros-drivers/velody...
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.
You probably just git cloned https://github.com/ros-drivers/velody... 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...
Asked: 2016-03-16 08:07:19 -0500
Seen: 213 times
Last updated: Mar 16 '16
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