How can I visualize data from the telemetry port of the VLP16 LiDAR?

Hello,

I am comparatively new to handling LiDAR data, so I apologize in advance if the questions seem vague or misled. I am currently working on capturing and visualizing point clouds using the (VLP16) ROS drivers. I was wondering if there is a way to visualize the GPS data (Garmin 18X LVC) from the telemetry port? Is this information written to the velodynepoints during a bag file recording for extraction? I tried using the navsatdriver and obtained a checksum error at port 8308 while the GPS was connected (signal was present on the velodyne web UI). I would like to convert this data into UTM and use it to position the point clouds in space. I guess I would like to understand this - how can I synchronize the two ports' data, is the point cloud already time stamped with the GPS information? Any help/guidance in this regard is appreciated, thank you very much!

Best, Sneha

Asked by i_robot_flight on 2017-10-24 14:39:56 UTC

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Answers

Hey

I'm having the same situation. You can visualise the GPS data from a pcap file generated by veloview. Even on the same veloview tools while running; however, i couldnt find a way to extract GPS data from a bag file!

Thanks, Ish

Asked by Ish_Hamie on 2018-12-20 19:54:48 UTC

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The ROS velodyne package doesn't support this, but there's an open pull request that was attempting to add it: https://github.com/ros-drivers/velodyne/pull/53 . Looks like it got stalled because the original author didn't have time to finish it and no longer has access to a velodyne.

Asked by ahendrix on 2018-12-20 21:58:58 UTC