This package uses deprecated interfaces, but can be upgraded, if needed. (velodyne_height_map is an alternative) |
Contents
Nodes
Ring Compression
The ringcomp node reads velodyne_common/RawScan data from the velodyne/rawscan topic, identifies obstacles, and publishes them as sensor_msgs/PointCloud in the velodyne/obstacles topic.
Start the ring compression nodelet. Running as a standalone nodelet prevents zero-copy message sharing. Usage
$ rosrun velodyne_ringcomp ringcomp
Nodelets
ringcomp_nodelet
The ringcomp nodelet reads transformed data in sensor_msgs/PointCloud format including additional channels for "ring" and "heading", and republishes detected obstacles as velodyne/obstacles.
Subscribed Topics
velodyne/pointcloud (sensor_msgs/PointCloud) Published Topics
velodyne/obstacles (sensor_msgs/PointCloud) Parameters
~min_obstacle (double, default: 0.15)
~vel_height (double, default: 2.4) Examples
$ rosrun nodelet nodelet standalone velodyne_ringcomp/RingCompNodelet