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Asscess point cloud from Velodyne VLP16

asked 2016-10-23 06:01:24 -0500

orsonl gravatar image

updated 2016-10-24 00:55:45 -0500

Hi, I need the pointcloud from Velodyne VLP16. The author of velodyne drive mentioned that "velodyne_pointcloud publishes its data using a custom PCL point definition: velodyne_pointcloud::PointXYZIR". Does that mean that is a topic? If so, after I did roslaunch "velodyne_pointclound VLP16_points.launch", nothing like that are in the topic list. Did I misunderstood something?

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answered 2016-10-24 04:47:40 -0500

orsonl gravatar image

I followed the suggestion for the author to run ring_colors_nodelet which publishes velodyne_rings. However, velodyne_rings is still pointCloud2 instead of msg that contains x,y and z information of the point cloud from the Velodyne sensor.

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answered 2016-10-24 10:25:06 -0500

joq gravatar image

The name of the topic is /velodyne_points.

See: http://wiki.ros.org/velodyne_pointclo...

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Sir, thanks for your prompted reply. The part I don't understand is in colors.cc the node subscribes to /velodyne_points. In the call back function, the field x,y and z can be accessed by "inMsg->points[i].x". But /velodyne_points doesn't have those field. I must have missed something.

orsonl gravatar image orsonl  ( 2016-10-24 12:33:44 -0500 )edit

Does it have any messages?

joq gravatar image joq  ( 2016-10-24 14:47:01 -0500 )edit

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Asked: 2016-10-23 06:01:24 -0500

Seen: 797 times

Last updated: Oct 24 '16