Velodyne 相關紀錄與議題

Connect to VLP-16 by ethenet

預設連接方式

1. 先點網路連線的符號

2. 編輯連線

3. 新增有線網路

4. 選擇裝置下拉，點選連接 VLP-16 的網卡MAC

5. 點選 IPv4 設定IP 改成手動

6. 新增地址： 192.168.1.77

7. 確定即新增完畢

8. 斷線再點選啟動新連線

9. Browser 打 192.168.1.201 即可進入

   tips:如果LiDAR IP是192.168.0.1(範例),則電腦IP也需要設為192.168.0.X

硬體設定注意事項

VLP-16 setting page

Host IP Address 要對齊到電腦的網卡IP , 同時必須設定在跟Sensor 同網域之下 (192.168."0".X)

Sensor 的 IP 可以隨意設定，但是Gateway 也要在同網域之下

Velodyne 尋找連接 IP

1. 安裝 wireshark sudo apt-get install wireshark

2. 啟用 wireshark，看封包資訊

3. 尋找封包資訊指定的目標 IP

Velodyne 節點意義

參考資料： Ros wiki package: Velodyne (http://wiki.ros.org/velodyne_pointcloud)

CloudNodelet

Subscribed Topics: velodyne_packets(velodyne_msgs/VelodyneScan)

Published Topics: velodyne_points(sensor_msgs/PointCloud2)

Subcriber vs Publisher 議題

CMakeList.txt

ISSUE: undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)

# solution:
target_link_libraries(subSensorPC2_to_pubPCLPCXYZI ${PCL_LIBRARIES} ${catkin_LIBRARIES})
# 需要把 ${PCL_LIBRARIES} 放在最前面

啟動 lidTopPub

roslaunch velodyne_pointclound hino_front_vlp32c.launch
rosrun lidar_grabber_hino lidTopPub
rosrun display_hino display_hino   #宗賢a視覺化
rosrun rviz rviz -f 

Velodyne MAKE ISSUE

ISSUE: No Package Call yaml-cpp, pcl-ros, tf, angles, jsk_recognition-msgs....

#solution: install Velodyne code dependencies
sudo apt-get install -y libyaml-cpp-dev ros-kinetic-pcl-ros ros-kinetic-pcl-conversions ros-kinetic-angles ros-kinetic-tf ros-kinetic-diagnostic-updater ros-kinetic-jsk-recognition-msgs

ISSSUE: Can't Find PCL

#edit CMakeList and add below line.
# /opt/pcl/1.9.0/share/pcl-1.9/ should be the pcl installed path.
set(PCL_DIR "/opt/pcl/1.9.0/share/pcl-1.9/")

ISSUE: /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmGetDevices2' ....

ref: https://devtalk.nvidia.com/default/topic/1044109/jetson-agx-xavier/no-usr-lib-aarch64-linux-gnu-tegra-libgl-so-0-with-jetpack-4-4-1/

#not sure now
sudo rm /usr/lib/aarch64-linux-gnu/libdrm.so.2
sudo -H ln -s /usr/lib/aarch64-linux-gnu/libdrm.so /usr/lib/aarch64-linux-gnu/libdrm.so.2