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