ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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

asked 2017-10-24 14:39:56 -0500

i_robot_flight gravatar image


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 velodyne_points during a bag file recording for extraction? I tried using the navsat_driver 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

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2018-12-20 20:58:58 -0500

ahendrix gravatar image

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

edit flag offensive delete link more

answered 2018-12-20 18:54:48 -0500

Ish_Hamie gravatar image


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

edit flag offensive delete link more

Question Tools



Asked: 2017-10-24 14:39:56 -0500

Seen: 1,598 times

Last updated: Dec 20 '18