0
1

Delete article

Deleted articles cannot be recovered.

Draft of this article would be also deleted.

Are you sure you want to delete this article?

More than 3 years have passed since last update.

Autoware/ROSでVelodyne VLP-16の設定

Posted at

前提

AutowareのDockerが起動している状態。
https://qiita.com/atsuto/items/a99296bbd687928967bd

接続

Velodyneと、PCを直接Etherケーブルで接続。

ネットワーク設定

PCの有線接続のアドレスを、Velodyneと同じ192.168.0.xx系に設定。
Screenshot from 2020-12-27 09-40-21.png

IPを指定してVelodyneの設定画面を開き、送信先にPCのIPを設定する。
Screenshot from 2020-12-27 09-26-16.png

Rviz

ポイントクラウドのnodeを立ち上げる。
使い方:$ roslaunch [package] [filename.launch]

参考:
http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16
https://faboplatform.github.io/AutowareDocs/01.Velodyne_VLP-16/01.Ros_rviz/

$ roslaunch velodyne_pointcloud VLP16_points.launch &
$ rosnode list
$ rostopic echo /velodyne_points //データが来ているのが分かる
$ rosrun rviz rviz -f velodyne //Rvizの起動

Addから「Point Cloud2」を追加し、Topicに「/velodyne_points」を入力すると、下記のように点群が表示される。

Screenshot from 2020-12-27 09-24-39.png

0
1
0

Register as a new user and use Qiita more conveniently

  1. You get articles that match your needs
  2. You can efficiently read back useful information
  3. You can use dark theme
What you can do with signing up
0
1

Delete article

Deleted articles cannot be recovered.

Draft of this article would be also deleted.

Are you sure you want to delete this article?