Velodyne¶
velodyne driver runs as component, including:
data packet processing –> /driver
point cloud generation –> /convert
velodyne 16 fusion –> /fusion
compensation –> /compensator
Compensation relies on tf
to query the coordination transform, so gnss_driver is required to run the velodyne components.
Output Channels¶
data packet channel: /apollo/sensor/lidar128/Scan type: apollo::drivers::velodyne::VelodyneScan proto: modules/drivers/lidar/velodyne/proto/velodyne.proto
point cloud channel: /apollo/sensor/lidar128/PointCloud2 type: apollo::drivers::PointCloud proto: [modules/drivers/proto/pointcloud.proto]https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/proto/pointcloud.proto
compensation point cloud channel: /apollo/sensor/lidar128/compensator/PointCloud2 type: apollo::drivers::PointCloud proto: [modules/drivers/proto/pointcloud.proto]https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/proto/pointcloud.proto
Coordination¶
world
novatel
velodyne128
Start¶
Please change the parameters in the launch file for cars when you start
#in docker
cyber_launch start velodyne.launch
FAQ¶
“basetime is zero” The position pack is not valid, please check gps signal.
‘velodyne port 2368 poll() timeout’ The network between the host and velodyne is having problem. Please use
sudo tcpdump -i eth0 udp port 2368
to check if velodyne packets are received.‘cannot find transform …’
Compensaton
relies ontf
, please double check ifgnss_driver
has been started, and also use cyber_monitor check/tf
channel output.