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VLP-16 pointcloud data has angular gap in RVIZ !!

asked 2016-12-17 00:17:34 -0600

Ehsan gravatar image

updated 2016-12-22 19:40:11 -0600

Hi everyone! I am using VLP-16 and ros for SLAM.

When I see the captured pcap file in VeloView I can see the scans correctly. But when I try to publish it on Rviz, in each scan part of the data(from specific angle for around 30 degree) are lost. In each scan the angle of lost points changes. I also tried to save the scan in other program and realized that the saved point cloud also have the same gap. The rotation speed of velodyne was 600 rpm. I am using ros-indigo and for showing data in rviz I am using following commands:

rviz -f velodyne

roslaunch velodyne_pointcloud VLP16_points.launch calibration:="VLP-16.yaml"

rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=./velodyne_scan.pcap _read_once:=true

Here is the video of my scan in rviz.

Can someone tell me how to fix this problem. Thanks in advance.

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I haven't had time to look into your issue very much, but it might be related to this:

William gravatar image William  ( 2016-12-20 13:19:32 -0600 )edit

Thank you William. I checked this post but I think it's not related to my issue. I uploaded the video from my rviz here.

Ehsan gravatar image Ehsan  ( 2016-12-22 19:39:02 -0600 )edit

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answered 2016-12-19 15:58:00 -0600

joq gravatar image

There may be some start-up delays causing part of the data to be lost. Try it without the read_once option.

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Thank you Jack for your reply. I tried without read_once option but still I have the same problem. Lost data (gap) is not only for the first scan. In each scan I have the same gap with different starting angle. The starting angle of gap rotating with 1Hz.

Ehsan gravatar image Ehsan  ( 2016-12-20 13:02:58 -0600 )edit

In that case, why do you think it's not the rviz problem @William mentioned?

joq gravatar image joq  ( 2016-12-23 11:13:08 -0600 )edit

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Asked: 2016-12-17 00:07:04 -0600

Seen: 585 times

Last updated: Dec 22 '16