Using Husky with Velodyne VLP-16

asked 2022-08-03 05:01:25 -0600

onur gravatar image

Hi, I am working on Clearpath Husky robot with ros melodic. My goal is to use husky with velodyne VLP-16. I used this documentation and added the following lines to the /etc/ros/setup.bash to run velodyne but I did't see any topic named 'point' therefore I assumed it didn't work.

export HUSKY_LASER_3D_ENABLED=true
export HUSKY_LASER_3D_XYZ='0 0 0'
export HUSKY_LASER_3D_RPY='0.0 0.0 0.0'
export HUSKY_LASER_3D_HOST='192.168.131.20'
export HUSKY_LASER_3D_TOPIC='points'

I tried setting HUSKY_LASER_3D_HOST variable as '192.168.1.201' since it is the IP of my velodyne but still it doesn't work. Then I tried this on my PC and it worked. However, when I tried doing it on husky I couldn't figure out how to do the "1.1 Configure your computer’s IP address through the Gnome interface" step. I tried this with skipping that step and I had the following output

roslaunch velodyne_pointcloud VLP16_points.launch 
... logging to /home/administrator/.ros/log/1b8a3f46-130f-11ed-8cbc-00224dd8d768/roslaunch-cpr-a200-0760-28050.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cpr-a200-0760:36707/

SUMMARY

========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /velodyne_nodelet_manager_driver/cut_angle: -0.01
 * /velodyne_nodelet_manager_driver/device_ip: 
 * /velodyne_nodelet_manager_driver/frame_id: velodyne
 * /velodyne_nodelet_manager_driver/gps_time: False
 * /velodyne_nodelet_manager_driver/model: VLP16
 * /velodyne_nodelet_manager_driver/pcap: 
 * /velodyne_nodelet_manager_driver/pcap_time: False
 * /velodyne_nodelet_manager_driver/port: 2368
 * /velodyne_nodelet_manager_driver/read_fast: False
 * /velodyne_nodelet_manager_driver/read_once: False
 * /velodyne_nodelet_manager_driver/repeat_delay: 0.0
 * /velodyne_nodelet_manager_driver/rpm: 600.0
 * /velodyne_nodelet_manager_driver/timestamp_first_packet: False
 * /velodyne_nodelet_manager_laserscan/resolution: 0.007
 * /velodyne_nodelet_manager_laserscan/ring: -1
 * /velodyne_nodelet_manager_transform/calibration: /home/administrat...
 * /velodyne_nodelet_manager_transform/fixed_frame: 
 * /velodyne_nodelet_manager_transform/max_range: 130.0
 * /velodyne_nodelet_manager_transform/min_range: 0.4
 * /velodyne_nodelet_manager_transform/model: VLP16
 * /velodyne_nodelet_manager_transform/organize_cloud: False
 * /velodyne_nodelet_manager_transform/target_frame: 

NODES
  /
    velodyne_nodelet_manager (nodelet/nodelet)
    velodyne_nodelet_manager_driver (nodelet/nodelet)
    velodyne_nodelet_manager_laserscan (nodelet/nodelet)
    velodyne_nodelet_manager_transform (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311
process[velodyne_nodelet_manager-1]: started with pid [28118]
process[velodyne_nodelet_manager_driver-2]: started with pid [28119]
process[velodyne_nodelet_manager_transform-3]: started with pid [28120]
process[velodyne_nodelet_manager_laserscan-4]: started with pid [28122]
[ INFO] [1659520069.081886984]: Initializing nodelet with 8 worker threads.
[ INFO] [1659520069.131315225]: Velodyne VLP-16 rotating at 600 RPM
[ INFO] [1659520069.132286525]: publishing 76 packets per scan
[ INFO] [1659520069.138060263]: Cut at specific angle feature deactivated.
[ INFO] [1659520069.148173001]: Reconfigure Request
[ INFO] [1659520069.150461908]: expected frequency: 9.921 (Hz)
[ INFO] [1659520069.154924495]: Opening UDP socket: port 2368
0.000 2.304 4.608 6.912 9.216 11.520 13.824 16.128 18.432 20.736 23.040 25.344 27.648 29.952 32.256 34.560 55.296 57.600 59.904 62.208 64.512 66.816 69.120 71.424 73.728 76.032 78.336 80.640 82.944 85.248 87.552 89.856 
110.592 112.896 115.200 117.504 119.808 122.112 124.416 126.720 129.024 131.328 133.632 135.936 138.240 140.544 
142.848 145.152 165.888 168.192 170.496 172.800 175.104 177.408 179.712 182.016 184.320 186.624 188.928 191.232 
193.536 195.840 198.144 200 ...
(more)
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