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asked 2017-06-21 18:21:14 -0600

M@t gravatar image

How can I get a Clearpath Jackal to receive HDL-32 data?

This may be more of a general networking question but because it's relevant to the ROS community I felt like this was the most appropriate place to discuss it.

The Problem (TL;DR)

I have a Velodyne HDL-32 connected to a Clearpath Jackal over LAN. I'm using the ROS Velodyne drivers. When I run the commands on a laptop running Ubuntu, everything works as expected and I can see the data in RViz and in the ROS topic /velodyne_points When I run the same commands on the Jackal, the drivers launch as normal but I get nothing.

The Problem (full explanation)

I have an HDL-32, one Ethernet switch (not router), one Windows PC, one Ubuntu PC and one Clearpath Jackal connected over LAN as shown (note: on each device all WiFi connections and firewalls are disabled):

image description

The HDL-32 publishes it's data as UDP packets to the IP address 192.168.3.255. Any device with an IP device on subnet "3" can listen to and display the data using either Veloview for Windows or RViz and the ROS drivers for Linux.

  • If the Windows PC is configured as shown, I can view the data in real-time in Veloview
  • If the Ubuntu PC is configured as shown, and I run the Velodyne drivers, I can view the data in real-time in RViz. I can also see the raw data on the velodyne_points rostopic.
  • BUT if I run the same drivers on the Jackal, the drivers launch but never receive any data and nothing is published to the velodyne_points rostopic.

How can I make drivers on the jackal work? Any advice or help will be greatly appreciated.


Some specifics about the setup with Jackal:

  • The Jackal has only one static Ethernet port, hence the need for an Ethernet switch.
  • I access it via SSH on the IP address 192.168.1.11.
  • The SSH connection appears to operate on the "br0" connection, while the LAN and Velodyne drivers seem to operate on the "eth0" connection. (unfortunately I have only a rudimentary knowledge of computer networking).
  • After getting in with SSH, the "br0" connection has the IP 192.168.11 and the "eth0" connection appears un-initialized. After running the "ifconfig" commands as stated on the Velodyne driver page the "eth0" connection is configured as shown in the diagram above.
  • The "eth0" connection on the Ubuntu PC (when everything works) appears as follows:

    image description

    Note that the "RX Packets' show that the connection is receiving data.

  • The "eth0" connection on the jackal appears as follows:

    image description

    Note that the "RX packets" line shows 0, implying that the port isn't receiving any data at all.

How can I get a Clearpath Jackal to receive HDL-32 data?

This may be more of a general networking question but because it's relevant to the ROS community I felt like this was the most appropriate place to discuss it.

The Problem (TL;DR)

I have a Velodyne HDL-32 connected to a Clearpath Jackal over LAN. I'm using the ROS Velodyne drivers. When I run the commands on a laptop running Ubuntu, everything works as expected and I can see the data in RViz and in the ROS topic /velodyne_points When I run the same commands on the Jackal, the drivers launch as normal but I get nothing.

The Problem (full explanation)

I have an HDL-32, one Ethernet switch (not router), one Windows PC, one Ubuntu PC and one Clearpath Jackal connected over LAN as shown (note: on each device all WiFi connections and firewalls are disabled):

image description

The HDL-32 publishes it's data as UDP packets to the IP address 192.168.3.255. Any device with an IP device on subnet "3" can listen to and display the data using either Veloview for Windows or RViz and the ROS drivers for Linux.

  • If the Windows PC is configured as shown, I can view the data in real-time in Veloview
  • If the Ubuntu PC is configured as shown, and I run the Velodyne drivers, I can view the data in real-time in RViz. I can also see the raw data on the velodyne_points rostopic.
  • BUT if I run the same drivers on the Jackal, the drivers launch but never receive any data and nothing is published to the velodyne_points rostopic.

How can I make drivers on the jackal work? Any advice or help will be greatly appreciated.


Some specifics about the setup with Jackal:

  • The Jackal has only one static Ethernet port, hence the need for an Ethernet switch.
  • I access it via SSH on the IP address 192.168.1.11.
  • The SSH connection appears to operate on the "br0" connection, while the LAN and Velodyne drivers seem to operate on the "eth0" connection. (unfortunately I have only a rudimentary knowledge of computer networking).
  • After getting in with SSH, the "br0" connection has the IP 192.168.11 and the "eth0" connection appears un-initialized. After running the "ifconfig" commands as stated on the Velodyne driver page the "eth0" connection is configured as shown in the diagram above.
  • The "eth0" connection on the Ubuntu PC (when everything works) appears as follows:

    image description

    Note that the "RX Packets' show that the connection is receiving data.

  • The "eth0" connection on the jackal appears as follows:

    image description

    Note that the "RX packets" line shows 0, implying that the port isn't receiving any data at all.

  • Unfortunately I'm not the first person to use this HDL. I can't access the web interface to change it's source IP or any of it's other parameters. The cause of that problem may or may not be related to the cause of this one.

How can I get a Clearpath Jackal to receive HDL-32 data?

This may be more of a general networking question but because it's relevant to the ROS community I felt like this was the most appropriate place to discuss it.

The Problem (TL;DR)

I have a Velodyne HDL-32 connected to a Clearpath Jackal over LAN. I'm using the ROS Velodyne drivers. When I run the commands on a laptop running Ubuntu, everything works as expected and I can see the data in RViz and in the ROS topic /velodyne_points When I run the same commands on the Jackal, the drivers launch as normal but I get nothing.

The Problem (full explanation)

I have an HDL-32, one Ethernet switch (not router), one Windows PC, one Ubuntu PC and one Clearpath Jackal connected over LAN as shown (note: on each device all WiFi connections and firewalls are disabled):

image description

The HDL-32 publishes it's data as UDP packets to the IP address 192.168.3.255. Any device with an IP device on subnet "3" can listen to and display the data using either Veloview for Windows or RViz and the ROS drivers for Linux.

  • If the Windows PC is configured as shown, I can view the data in real-time in Veloview
  • If the Ubuntu PC is configured as shown, and I run the Velodyne drivers, I can view the data in real-time in RViz. I can also see the raw data on the velodyne_points rostopic.
  • BUT if I run the same drivers on the Jackal, the drivers launch but never receive any data and nothing is published to the velodyne_points rostopic.

How can I make drivers on the jackal work? Any advice or help will be greatly appreciated.


Some specifics about the setup with Jackal:

  • The Jackal has only one static Ethernet port, hence the need for an Ethernet switch.
  • I access it via SSH on the IP address 192.168.1.11.
  • The SSH connection appears to operate on the "br0" connection, while the LAN and Velodyne drivers seem to operate on the "eth0" connection. (unfortunately I have only a rudimentary knowledge of computer networking).
  • After getting in with SSH, the "br0" connection has the IP 192.168.11 and the "eth0" connection appears un-initialized. After running the "ifconfig" commands as stated on the Velodyne driver page the "eth0" connection is configured as shown in the diagram above.
  • The "eth0" connection on the Ubuntu PC (when everything works) appears as follows:

    image description

    Note that the "RX Packets' show that the connection is receiving data.

  • The "eth0" connection on the jackal appears as follows:

    image description

    Note that the "RX packets" line shows 0, implying that the port isn't receiving any data at all.

  • Unfortunately I'm not the first person to use this HDL. I can't access the web interface to change it's source IP or any of it's other parameters. The cause of that problem may or may not be related to the cause of this one.

How can I get a Clearpath Jackal to receive HDL-32 data?

This may be more of a general networking question but because it's relevant to the ROS community I felt like this was the most appropriate place to discuss it.

The Problem (TL;DR)

I have a Velodyne HDL-32 connected to a Clearpath Jackal over LAN. I'm using the ROS Velodyne drivers. When I run the commands on a laptop running Ubuntu, everything works as expected and I can see the data in RViz and in the ROS topic /velodyne_points When I run the same commands on the Jackal, the drivers launch as normal but I get nothing.

The Problem (full explanation)

I have an HDL-32, one Ethernet switch (not router), one Windows PC, one Ubuntu PC and one Clearpath Jackal connected over LAN as shown (note: on each device all WiFi connections and firewalls are disabled):

image description

The HDL-32 publishes it's data as UDP packets to the IP address 192.168.3.255. Any device with an IP device on subnet "3" can listen to and display the data using either Veloview for Windows or RViz and the ROS drivers for Linux.

  • If the Windows PC is configured as shown, I can view the data in real-time in Veloview
  • If the Ubuntu PC is configured as shown, and I run the Velodyne drivers, I can view the data in real-time in RViz. I can also see the raw data on the velodyne_points rostopic.
  • BUT if I run the same drivers on the Jackal, the drivers launch but never receive any data and nothing is published to the velodyne_points rostopic.

How can I make drivers on the jackal work? Any advice or help will be greatly appreciated.


Some specifics about the setup with Jackal:

    1. The Jackal has only one static Ethernet port, hence the need for an Ethernet switch.port "br0" and one DHCP port "eth0". There is also a "eth1" port which I haven't placed yet.
    2. I access it the jackal via SSH on the static port with the IP address 192.168.1.11.
    3. The SSH connection appears to operate on the "br0" connection, while the LAN and Velodyne drivers seem to operate on the "eth0" connection. (unfortunately I have only a rudimentary knowledge of computer networking).
    4. After getting in with SSH, the "br0" connection has the IP 192.168.11 and the "eth0" connection appears un-initialized. After running the "ifconfig" commands as stated on the Velodyne driver page the "eth0" connection is configured as shown in the diagram above.
    5. The "eth0" connection on the Ubuntu PC (when everything works) appears as follows:

      image description

      Note that the "RX Packets' show that the connection is receiving data.

    6. The If I also plug the DHCP into the network (adding it to the connections in the diagram above) and run the driver commands I get the same configuration on the "eth0" port:

      sdfsadf

      And the port seems to be receiving the HDL data (hence the high volume of RX packets - 1+ GB). But the drivers still don't seem to be getting the data from the port as nothing is published to the /veoldyne_points topic.

    7. As a side note, the connection on the jackal appears as follows:

      image description

      Note that the "RX packets" line shows 0, implying that the via SSH suffers from significant latency when the DHCP port isn't receiving any data at all.

      is plugged into the network.
    8. Unfortunately I'm not the first person to use this HDL. I can't access the web interface to change it's source IP or any of it's other parameters. The cause of that problem may or may not be related to the cause of this one.