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The output map of Gmapping are usually consistence, even-though its trajectory output jumps a lot. Therefore, I have checked Gmapping tree node trajectory. Which surprisingly, tree node linearized all trajectory jumps.

Does it mean, gmapping uses graph optimization?

Hi gvdhoom, the question "How to select dual return mode for velodyne VLP16?" can be solved by selecting dual mode in VLP16 hardware setting. However, this question is after the hardware setting, how to display point cloud in Velodyne ros package?.
=)

Hi everyone,

How to use ros package Velodyne for VLP16 dual return mode?

[Observed problem] 1. VLP16 hardware configuration was defined to dual return mode 2. I tried roslaunch velodyne_pointcloud VLP16_points.launch and display it on rviz, but the 3D point cloud was blinking and distorted.

[cause of the problem] The blinking was caused by dual return mode data structure . 1. Strongest return and Last return, the data structure: Every blocks have different horizontal angle. 2.However, Dual return data structure: Every 2 blocks are coupled with same horizontal angle.

Therefore it requires twice numbers of blocks to complete a 360 degrees of 3D point cloud in Dual return mode than the others. This have caused the blinking problem.

[how to solve it in ROS velodyne package] ???? need some help here

Thank you very much

Thank you that solved the my question =)

I think dual return was defined here? is it true? Dual return have been defined in rawdata.h ---> http://docs.ros.org/indigo/api/velody... program line
00063 static const int VLP16_FIRINGS_PER_BLOCK = 2; // dual return

Hi everyone,

In the velodyne package, how do you select dual returns mode for velodyne VLP16?.

Thank you