How to visualize point cloud data of velodyne-16 with ros2?

asked 2021-07-29 03:23:52 -0500

ylh
76 ●5 ●9 ●10

The environment：ros2-foxy

I'm a newer to ros2 .I want to visualize point cloud data of velodyne-16 with the help of ros2 and rviz2.I have installed the driver follow https://github.com/ros-drivers/velodyne/tree/ros2.Set the following： image description

When I run the command,ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py,and get:

[velodyne_driver_node-1] [WARN] [1627545389.611428642] [velodyne_driver_node]: Velodyne poll() timeout
[velodyne_driver_node-1] [WARN] [1627545390.613130216] [velodyne_driver_node]: Velodyne poll() timeout
[velodyne_driver_node-1] [WARN] [1627545391.614572476] [velodyne_driver_node]: Velodyne poll() timeout
[velodyne_driver_node-1] [WARN] [1627545392.616064299] [velodyne_driver_node]: Velodyne poll() timeout

when I run the command ros2 topic echo /velodyne_points,and get empty.

The topic failed to read data. This problem has been bothering me for a long time. I beg you to help me.

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answered 2022-03-24 07:21:37 -0500

Arics2020
1 ●2

U need to add the correct IP Address of the Velodyne in your Network settings:

for Ubuntu, with Velodyne Factory Settings it might look like this:

In Ubuntu Network Settings IPv4 Settings:

Address Subnet
192.168.1.100 16 # comment: this is your PC in the same Network like the Lidar with IP 192.168.1.201 192.168.3.100 16 # to get the data stream ( u forgot to add this, in the Velodyne gui it is called Host (Destination) and is the same under Network (Sensor) Gateway

(unfortunately , I cannot post a pic yet)

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In your case above edit in Velodyne Lidar Gui the Gateway from 192.168.1.1 to 192.168.1.12.

192.168.1.12 is the 192.168.3.100 of the factory setting example.

Therefore, enter that address in Ubuntu 192.168.1.12 with Subnet Mask 24

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Have also a Look at the Tutorial http://wiki.ros.org/velodyne/Tutorial...

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