Velodyne Setup Instructions - SJSU-AD/FusionAD GitHub Wiki

Useful Links

Kumar Robotics Driver
Velodyne ROS Tutorials

NOTE: VLP's IP Address is 192.169.0.201, in accordance with the Networking Info

Steps

  • Plug in the Ethernet cable from the Lidar to your laptop
  • Configure network (reference)
    • Open "Edit Connections" under WiFi networks (top left corner of your screen)
    • Edit the Ethernet connection relevant to the Lidar, select "IPv4 Settings", and change the method to "Manual"
    • Set your static IP to 192.168.0.50
    • Set subnet mask to 255.255.255.0
    • Set gateway to 0.0.0.0
    • Save the settings

Default ROS VLP-16 Drivers Option

  • Standard for FusionAD as of 4/14/19
  • Run the following command to validate the driver's functionality
roslaunch velodyne_pointcloud VLP16_points.launch
  • This launch file should be automatically launched by the master launch file.

Kumar Robotics Option

  • Run catkin_make command from Kumar at the root of FusionAD and source your new environment:
catkin_make --pkg velodyne_puck_driver velodyne_puck_decoder --cmake-args -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
  • A computer restart may be required at this point if steps below do not work.

View in Rviz

  • Launch the decoder with the following command or some launch file that will launch the decoder:
roslaunch velodyne_puck_decoder velodyne_puck_decoder_nodelet.launch
  • Change Fixed Frame in Rviz from /map to /velodyne (top left corner) to view point cloud

Segmentation (OLD)

Run localization launch file:

roslaunch localization localization.launch