#include <unistd.h>#include <stdio.h>#include <pcap.h>#include <netinet/in.h>#include <string>#include <ros/ros.h>#include <velodyne_msgs/VelodynePacket.h>
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Classes | |
| class | velodyne_driver::Input |
| Velodyne input base class. More... | |
| class | velodyne_driver::InputPCAP |
| Velodyne input from PCAP dump file. More... | |
| class | velodyne_driver::InputSocket |
| Live Velodyne input from socket. More... | |
Namespaces | |
| namespace | velodyne_driver |
Variables | |
| static uint16_t | velodyne_driver::DATA_PORT_NUMBER = 2368 |
| static uint16_t | velodyne_driver::POSITION_PORT_NUMBER = 8308 |
Detailed Description
Velodyne 3D LIDAR data input classes
These classes provide raw Velodyne LIDAR input packets from either a live socket interface or a previously-saved PCAP dump file.
Classes:
velodyne::Input -- base class for accessing the data independently of its source
velodyne::InputSocket -- derived class reads live data from the device via a UDP socket
velodyne::InputPCAP -- derived class provides a similar interface from a PCAP dump file
Definition in file input.h.