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How to get the same data structure as in Veloview with VLP16?

asked 2016-10-11 10:57:56 -0600

siaca gravatar image

updated 2016-10-12 07:24:04 -0600

Hi there everyone, I am starting with ROS and a VLP16, sorry in advance.

I am able to create comunication with the VLP16 velodyne_driver, using "roslaunch velodyne_pointcloud VLP16_points.launch" and then, watch the pointcloud with rviz, "rosrun rviz rviz -f velodyne". After that, I can record a bag file using "rosrun rosbag record -O file_name.bag /velodyne_points".

My question is simple. I want to have a readable log for each frame or package-data (csv for example) with the same structure as Veloview can give us, i.e. XYZ, intensity, laser_id, distance_m, azimuth, adjustedtime, timestamp. But I do not know if with my bag file, I have this information.

Thank you very much for your help.

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Hey man, I'm having the same problem, did you ever get anywhere with this, and the azimuth and adjusted time?

roonocerus gravatar image roonocerus  ( 2017-01-14 21:51:05 -0600 )edit

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answered 2016-10-11 12:01:28 -0600

joq gravatar image

The velodyne_packets topic contains all the information provided by the device, but you'd need to write some code to unpack it in the format you specified.

If you want to create a utility to do that, by all means submit a pull request.

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Thank you very much for your response. At the moment, I can make a log file with XYZ intensity and ring, but this is not enough for the algorithm I am working on. I need at least, the azimuth and adjustedtime data field.

siaca gravatar image siaca  ( 2016-10-12 07:19:52 -0600 )edit

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Asked: 2016-10-11 10:57:56 -0600

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Last updated: Oct 12 '16