velodyne: velodyne_common | velodyne_msgs | velodyne_ringcomp | velodyne_viz

Package LinksDependencies (6)

Package Summary

No API documentation

Identify obstacles in Velodyne HDL-64E 3D LIDAR data using a ring compression algorithm.

This package uses deprecated interfaces, but can be upgraded, if needed. (velodyne_height_map is an alternative)

Contents

  1. Nodes
    1. Ring Compression
      1. Usage
  2. Nodelets
    1. ringcomp_nodelet
      1. Subscribed Topics
      2. Published Topics
      3. Parameters
      4. Examples

Nodes

Ring Compression

The ringcomp node reads velodyne_common/RawScan data from the velodyne/rawscan topic, identifies obstacles, and publishes them as sensor_msgs/PointCloud in the velodyne/obstacles topic.

Usage

$ rosrun velodyne_ringcomp ringcomp

Nodelets

ringcomp_nodelet

The ringcomp nodelet reads transformed data in sensor_msgs/PointCloud format including additional channels for "ring" and "heading", and republishes detected obstacles as velodyne/obstacles.

Subscribed Topics

velodyne/pointcloud (sensor_msgs/PointCloud)
  • Raw Velodyne data points from the device

Published Topics

velodyne/obstacles (sensor_msgs/PointCloud)
  • points belonging to detected obstacles

Parameters

~min_obstacle (double, default: 0.15)
  • minimum height to consider an obstacle (meters)
~vel_height (double, default: 2.4)
  • height of the velodyne sensor above the ground (meters)

Examples

Start the ring compression nodelet. Running as a standalone nodelet prevents zero-copy message sharing. 

$ rosrun nodelet nodelet standalone velodyne_ringcomp/RingCompNodelet

Wiki: velodyne_ringcomp (last edited 2012-03-19 14:39:07 by JackOQuin)

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