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How to use two VLP16 with just one computer at a same time

asked 2016-10-07 04:09:45 -0600

JeongJae0815 gravatar image

updated 2016-10-07 04:11:42 -0600

Hey,

I have two VPL16 velodyne laser scanners and I connected using a switch to my computer.

I fixed first VPL 16's IP to 192.168.1.201 and second VPL's IP to 192.168.1.202 using Web GUI

and then I ran the velodyne package; roslaunch velodyne_pointcloud VLP16_points2_2.launch

here is the code of VLP16_points2_2.launch

<launch>

<group ns="ns1">

<arg name="pcap" default=""/>

<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>

<arg name="min_range" default="0.4"/>

<arg name="max_range" default="130.0"/>

<arg name="device_ip" default="192.168.1.201" />

<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">

<arg name="model" value="VLP16"/>

<arg name="device_ip" value="$(arg device_ip)" />

<arg name="pcap" value="$(arg pcap)"/>

</include>

<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">

<arg name="calibration" value="$(arg calibration)"/>

<arg name="min_range" value="$(arg min_range)"/>

<arg name="max_range" value="$(arg max_range)"/>

</include>

</group>

<group ns="ns2">

<arg name="pcap" default=""/>

<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>

<arg name="min_range" default="0.4"/>

<arg name="max_range" default="130.0"/>

<arg name="device_ip" default="192.168.1.202"/>

<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">

<arg name="model" value="VLP16"/>

<arg name="device_ip" value="$(arg device_ip)" />

<arg name="pcap" value="$(arg pcap)"/>

</include>

<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">

<arg name="calibration" value="$(arg calibration)"/>

<arg name="min_range" value="$(arg min_range)"/>

<arg name="max_range" value="$(arg max_range)"/>

</include>

</group>

</launch>

However, I just can get only one topic which has combined data of two sensors Another topic is just empty Is there anything that I gotta do to get both of data?

Thank you in a advance I really appreciate your kind

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1 Answer

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answered 2016-10-09 12:50:47 -0600

joq gravatar image

The older velodyne launch scripts did not handle multiple devices cleanly.

There is new code for issue #108 which should help.

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Asked: 2016-10-07 04:09:45 -0600

Seen: 446 times

Last updated: Oct 09 '16