velodyne: velodyne_common | velodyne_driver | velodyne_msgs | velodyne_pcl | velodyne_pointcloud
Package Summary
ROS Point Cloud Library interfaces for Velodyne high-definition LIDARs.
- Author: Jack O'Quin, Jesse Vera
- License: BSD
- Repository: utexas-art-ros-pkg
- Source: svn http://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/velodyne/velodyne_pcl
This package is deprecated, use velodyne_pointcloud instead. |
Contents
ROS Nodes
velodyne_cloud2
The cloud2 command reads raw data, converts to sensor_msgs/PointCloud2 format, and republishes as velodyne/pointcloud2.Subscribed Topics
velodyne/rawscan (velodyne_common/RawScan)- Raw Velodyne data from the device
Published Topics
velodyne/pointcloud2 (sensor_msgs/PointCloud2)- Velodyne points for one entire revolution of the device with intensity channel.
Parameters
~data/* (see <velodyne/data.h>)- Parameters defined by <velodyne/data.h>.
ROS Nodelets
cloud2_nodelet
This nodelet reads raw data from the velodyne/packets ROS topic, converts to sensor_msgs/PointCloud2 format, and republishes as velodyne/pointcloud2 in a specified frame of reference (typically /odom). In addition to the data points, this cloud includes an additional field for "intensity". Fields for "ring" and "heading" will also be added.Subscribed Topics
velodyne/packets (velodyne_msgs/VelodyneScan)- one or more Raw Velodyne data packets from the device
Published Topics
velodyne/pointcloud2 (sensor_msgs/PointCloud2)- accumulated Velodyne points transformed into the frame_id frame of reference.
Parameters
~frame_id (str, default: "odom")- Target frame ID. Resolved using tf_prefix, if defined.
- maximum range to publish
- minimum range to publish
- Number of packets to publish in each message. Default is a full revolution.
- Parameters defined by <velodyne/data_xyz.h>.
Example
Continuously convert raw Velodyne packets into sensor_msgs/PointCloud2 messages. Running as a standalone nodelet prevents zero-copy message sharing.
$ rosrun nodelet nodelet standalone velodyne_pcl/Cloud2Nodelet