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Why routes are deleted using VLP16 and RVIZ ?

asked 2016-06-03 04:33:31 -0600

ArthurAlear gravatar image

updated 2016-06-03 04:42:25 -0600

gvdhoorn gravatar image

Hi,

We are trying to visualize in realtime the VLP-16 data in RVIZ.

Our config :

  • Ubuntu 14.04
  • ROS indigo
  • Velodyne VLP-16

We launch in several terminals these following commands :

TTY0 :

$ sudo route add 192.168.1.201 eth0
$ roscore

TTY1 :

$ roslaunch velodyne_pointcloud VLP16-points.launch

TTY2 :

$ rosrun velodyne_pointcloud cloud_node _calibration:=($mypath)/VLP16db.yaml

TTY3 :

$ rosrun rviz rviz -f velodyne

We can see it real time for like a few minutes, and then it freezes.

When we look at the route -n command the velodyne route (192.168.1.201) is gone.

After this, if we enter the : sudo route add 192.168.1.201 eth0 command again, rviz shows data correctly in realtime.

Any ideas why the route disappears ?

Thank you in advance for any help you can provide.

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Is your machine a DHCP client? Could be that it's flushing the routes upon renewal of the lease. Check syslog or dmesg to see whether the 'loss of route' coincides with lease renewal.

Also: have you checked to see whether the route disappears when you're not running anything from ROS?

gvdhoorn gravatar imagegvdhoorn ( 2016-06-03 04:39:59 -0600 )edit
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Why are you running two instances of the cloud_node? VLP16-points.launch runs everything (including the cloud_node as a nodelet).

https://github.com/ros-drivers/velody...

kmhallen gravatar imagekmhallen ( 2016-06-03 07:41:30 -0600 )edit

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answered 2016-06-03 10:12:57 -0600

joq gravatar image

updated 2016-06-03 10:15:00 -0600

  1. @kmhallen is right: don't run the cloud node, because VLP16-points.launch already starts the cloud nodelet. Since they are both publishing the same information to the /velodyne_points topic, the result will be confusing and waste cycles and bandwidth.

  2. The recommended method is to attach the Velodyne to its own ethernet port with a statically assigned IP in the 192.168.1.x range. We normally do it via the Ubuntu network manager like this:

    • IP address: 192.168.1.77
    • netmask: 255.255.255.0
    • gateway: 192.168.1.0

Setting up a VLP-16 is very similar to this 32E tutorial. We'd like to make a VLP-16 version of that tutorial some time soon.

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Thanks for your answer !

ArthurAlear gravatar imageArthurAlear ( 2016-06-20 07:48:01 -0600 )edit

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Asked: 2016-06-03 04:33:31 -0600

Seen: 1,166 times

Last updated: Jun 20 '16