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ROS velodyne VLP-32c play pcap file ghost effect

asked 2022-06-21 16:09:21 -0500

Skywalker
3 ●1 ●3

Environment: Ubuntu 18.04 ROS DISTRO: melodic LiDAR: VLP-32C

I am trying to convert .pcap obtained from VLP-32c to .pcd file. But I found that there is a ghost effect for each moving vehicle (but not for all). I also tried to visualize the .pcap file using rviz. But the ghost effect still exists. Here are some examples: https://drive.google.com/drive/folder...

The method that I used to read point cloud from VLP-32c was: roslaunch velodyne_pointcloud VLP-32C_points.launch pcap:="path/to/pcap" The method used to convert pcap to pcd was: rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_points _prefix:=/path/to/pcd

I am wondering how to fix this issue.

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answered 2022-06-23 07:27:32 -0500

Mike Scheutzow
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I think what you are seeing is multiple device 360-degree scans being put into the same pointcloud. Maybe you have not set some parameter the velodyne driver needs (e.g. to tell the driver the correct model, or to tell it the hardware's RPM value), or it is a bug in the velodyne_driver code related to reading from a file (instead of a network socket.)

http://wiki.ros.org/velodyne_driver

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Thank you for the answers. Yes, I figured that I didn't config the "cut_angle" to 3.14 since I was using 0-180 degrees of view. I found the answer here: https://github.com/ros-drivers/velody... Hope this can help others with the same issue.

Skywalker ( 2022-06-23 12:20:32 -0500 )edit

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Asked: 2022-06-21 16:09:21 -0500

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Last updated: Jun 23 '22

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ROS velodyne VLP-32c play pcap file ghost effect