Velodyne VLP-16 is not properly connected to ROS and not showing anythig on RViz despite followed official installation procedure

asked 2019-12-20 08:25:12 -0600

RayROS gravatar image

updated 2019-12-20 10:17:43 -0600

I am following the official procedure to install a VLP-16. Despite going precisely through the guide my lidar is not showing any point on RViz

Below all the steps I followed:

Preliminary steps:

1 Make sure sudo apt-get install ros-melodic-velodyne is installed, which it is.

2 Check connection options using ip a

emanuele@pc:~$ ip a
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host
       valid_lft forever preferred_lft forever
2: enp109s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
    link/ether 80:fa:5b:73:21:ec brd ff:ff:ff:ff:ff:ff
    inet 192.168.3.100/24 brd 192.168.3.255 scope global noprefixroute enp109s0
       valid_lft forever preferred_lft forever
    inet6 fe80::1b19:3020:d4bc:4bb5/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
3: wlp112s0: <BROADCAST,MULTICAST> mtu 1500 qdisc mq state DOWN group default qlen 1000
    link/ether a8:6d:aa:9b:43:e9 brd ff:ff:ff:ff:ff:ff

3 My ethernet connection is called enp109s0 and went ahead with that to the guide

1 Setting up your computer to communicate with the Velodyne VLP-16 sensor

1a) Power the LIDAR via the included adapter

1b) Connect the LIDAR to an Ethernet port on your computer.

1c) For now, disable the WiFi connection on your computer.

2 Configure your computer’s IP

Below the connection procedure: I created a velodyne_interface connection, see below:

connection-status

Existing Connection

conn1

velodyne_interface

conn2

3 Connecting your computer to LIDAR through terminal

emanuele@pc:~$ sudo ifconfig enp109s0 192.168.3.100

Add a static route to the LIDAR's IP address.

emanuele@pc:~$ sudo route add 192.168.28.74 enp109s0

4 Checking the configurations [Problem is here]

To check the connection open your web browser and access the following sensor’s network address.

The problem is that I never get to see the webpage showing the lidar data. Basically I never get to see the page below provided in the official documentation:

velodyne

What I tried so far:

I wasn't totally sure about the correct address of the lidar and came across this source and applied all possible techniques:

1) I looked on the back of my lidar and found the following MAC address: 60-76-88-38-1C-4A

Now since, according to the post, the last four Hex digits map to the IP address of the device, I mapped 1C Hex = 28 and 4A Hex = 74

and replicated the following but it didn't work and still can't access to the webpage showing the parameters:

emanuele@pc:~$ sudo ifconfig enp109s0 192.168.3.100
emanuele@pc:~$ sudo route add 192.168.28.74 enp109s0

2) I downloaded WireShark, connected the lidar via ethernet to it and below is a print screen of what I saw:

first

And

sec

Of course ... (more)

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Comments

It is not showing in rviz. Can you echo the topic?

ct2034 gravatar imagect2034 ( 2019-12-20 09:45:44 -0600 )edit

@ct2034, thank you very much for reading the question. Which topic should I echo?

RayROS gravatar imageRayROS ( 2019-12-20 09:52:59 -0600 )edit

just updated the question with rostopic echo /velodyne_points but nothing is showing up

RayROS gravatar imageRayROS ( 2019-12-20 10:00:56 -0600 )edit

I am sorry but I am not familiar with the sensor I just wanted to make sure that it is not a rviz problem, because I thought it was, judging by the title.

ct2034 gravatar imagect2034 ( 2019-12-20 10:14:23 -0600 )edit

Good point the question could be misleading. Thanks. I just updated it to make it more clear :)

RayROS gravatar imageRayROS ( 2019-12-20 10:18:31 -0600 )edit

I'm not sure if this helps. But in our lab we used to give netmask as 24. We also had problem wen we used 255.255.... don't know exactly what it does. But you can give it a try.

Abhishekpg gravatar imageAbhishekpg ( 2019-12-20 11:24:02 -0600 )edit

@Abhishekpg111, thanks for your comment. You mean 255.255.255.24?

RayROS gravatar imageRayROS ( 2019-12-20 11:31:30 -0600 )edit

No, just 24

Abhishekpg gravatar imageAbhishekpg ( 2019-12-20 11:39:59 -0600 )edit