ROS device driver for Velodyne 3D LIDARs.
ROS device driver node that captures Velodyne 3D LIDAR data and publishes it to the velodyne_msgs/VelodyneScan topic.
Read the Velodyne input socket as fast as possible. Publish each complete revolution to velodyne/rawscan.
$ rosrun velodyne_driver velodyne_node
Read previously captured Velodyne packets from dump.pcap file. Publish messages to velodyne/rawscan at approximately 10 Hz rate.
Dump files can be grabbed by libpcap, Velodyne's DSR software, ethereal, wireshark, tcpdump, or the velodyne_driver vdump command.
$ rosrun velodyne_driver velodyne_node _pcap:=dump.pcap
Node name: velodyne_node
Publishes: velodyne_packets raw Velodyne data packets for one entire revolution of the device.
The vdump command dumps raw data from the Velodyne LIDAR in PCAP format. It is a shell script wrapper with some obscure options for the powerful tcpdump command.
Other methods of acquiring PCAP data include using tcpdump directly, wireshark, Velodyne's DSR software, and programming with libpcap.
rosrun velodyne_driver vdump <file_prefix> [ <interface> ] <file_prefix> file name to dump (with 3-digit number suffix) <interface> interface to read from (default: "eth1")
Dump Velodyne packets to a series of files named "pcap-000", "pcap-001", etc. Each file will be about 100MB, holding a little more than 30 seconds of Velodyne packets. Type ^C when finished.
$ rosrun velodyne_driver vdump pcap- eth0