velodyne_driver::InputPCAP Class Reference

Velodyne input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for velodyne_driver::InputPCAP:

Public Member Functions
virtual int	getPacket (velodyne_msgs::VelodynePacket *pkt)
	Get one velodyne packet.
	InputPCAP (ros::NodeHandle private_nh, double packet_rate, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
	constructor
	~InputPCAP ()
Private Attributes
bool	empty_
char	errbuf_ [PCAP_ERRBUF_SIZE]
std::string	filename_
FILE *	fp_
ros::Rate	packet_rate_
pcap_t *	pcap_
bool	read_fast_
bool	read_once_
double	repeat_delay_

Detailed Description

Velodyne input from PCAP dump file.

Dump files can be grabbed by libpcap, Velodyne's DSR software, ethereal, wireshark, tcpdump, or the Vdump Command.

Definition at line 83 of file input.h.

velodyne_driver::InputPCAP::InputPCAP	(	ros::NodeHandle	private_nh,
		double	packet_rate,
		std::string	filename = `""`,
		bool	read_once = `false`,
		bool	read_fast = `false`,
		double	repeat_delay = `0.0`
	)

constructor

Parameters:

	private_nh	private node handle for driver
	packet_rate	expected device packet frequency (Hz)
	filename	PCAP dump file name
	read_once	read PCAP in a loop, unless false
	read_fast	read PCAP at device rate, unless false
	repeat_delay	time to wait before repeating PCAP data