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How to connect VLP-16 velodyne to indigo?

asked 2017-05-08 12:45:20 -0600

T318forever gravatar image

Under Ubuntu 14.04, indigo, My situation now is:

      sudo ifconfig eth0 192.168.1.77

(in new ternimal)

      roscore

(in new terminal)

      cd ./catkin_ws  
  source devel/setup.bash
  roslaunch velodyne_pontcloud VLP16_points.launch

in new terminal:

 rostopic echo /velodyne_points     However, there is no data printed.
 rostopic echo /velodyne_packets   It is said:"Cannot load message class for [velodyne_msgs/VelodyneScan]. Are your mess ages bulit?"

Whether I powered and connected the lidar to my computer or not, there seems to be no difference in the results above.

I think this means the velodyne lidar wasn't connected to linux OS. Is it true?

Therefore, how to connect VLP-16 velodyne to indigo? How to connect the lidar with my computer through the ethernet? I only need to power the lidar and connect the lidar to my computer by the Ethernet line, and I don't need to do anything else? For example, I need to turn off wifi or change some network settings in my linux system?

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answered 2017-05-08 17:43:09 -0600

tfoote gravatar image

Your error message has nothing to do with connectivity to the velodyne. It means that rostopic echo does not know about the velodyne_msgs/VelodyneScan datatype. And this is likely because it's in your workspace. However in your 2nd terminal you have not source the setup file. Try running

cd ./catkin_ws  
source devel/setup.bash

before you try to echo.

I'd recommend reviewing the catkin tutorials especially: http://wiki.ros.org/catkin/Tutorials/...

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It doesn't make any difference. Still no data is published

T318forever gravatar imageT318forever ( 2017-05-09 09:09:02 -0600 )edit
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answered 2018-01-02 19:13:42 -0600

fiorano10 gravatar image

I think first you need to figure out if the LiDAR is connected to the computer or not, if the IP address is 192.168.1.77 as mentioned, try pinging it. If it doesn't return anything then that's not the IP address, by default the VLP-16 IP address is 192.168.1.201. Also, before you use rostopic echo \topic you should first run rostopic list to display the topics being published.

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Asked: 2017-05-08 12:43:05 -0600

Seen: 855 times

Last updated: Jan 02 '18