ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs

Overview

Velodyne¹ is a collection of ROS² packages supporting Velodyne high definition 3D LIDARs³.

Warning:

The master branch normally contains code being tested for the next ROS release. It will not always work with every previous release. To check out the source for the most recent release, check out the tag <version> with the highest version number.

The current master branch works with ROS Kinetic and Melodic. CI builds are currently run for Kinetic and Melodic.

• ¹Velodyne: http://www.ros.org/wiki/velodyne
• ²ROS: http://www.ros.org
• ³Velodyne high definition 3D LIDARs: http://www.velodynelidar.com/lidar/lidar.aspx

velodyne's Issues

velodyne-0.9.1 rosbuild failing in Groovy

Linking CXX executable ../../../bin/cloud_node
  ../../../lib/libvelodyne_rawdata.so: undefined reference to `ros::package::getPath(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
  collect2: ld returned 1 exit status
  make[5]: *** [../bin/cloud_node] Error 1

Looks like some dependency that used to depend on roslib stopped doing it.

Compile Error

Hi,

I cloned the source and tried to compile but I am getting this error:

catkin_ws/src/velodyne/velodyne_driver/include/velodyne_driver/input.h:36:18: fatal error: pcap.h: No such file or directory
#include <pcap.h>

I am running Indigo on Ubuntu 14.04.

Thanks,

Matt

install nodelet XML plugin files for velodyne_driver and velodyne_pointcloud

a possible improvement in the coordinate calculation due to the mathematical model

Hi guys!

I am a student from KIT. I am now working on my graduation project so I get to know the velodyne scanner and the codes of it. Somehow, I noticed that the codes for the calculation of the xy_distance uses a expression that is different from the one I worked out or the one I read about in other papers. I manage to adjust my expression in the codes and I got a better result of the scanns.

Here are the several changes I made:
original one :
// Compute the distance in the xy plane (w/o accounting for rotation)
float xy_distance = distance * cos_vert_angle;
new one:
float xy_distance = distance * cos_vert_angle + vert_offset * sin_vert_angle;

original one :
xy_distance = distance_x * cos_vert_angle;
new one:
xy_distance = distance_x * cos_vert_angle + vert_offset * sin_vert_angle ;

original one :
xy_distance = distance_y * cos_vert_angle;
new one:
xy_distance = distance_y * cos_vert_angle + vert_offset * sin_vert_angle ;

original one :
float z = distance_y * sin_vert_angle + vert_offset;
new one:
float z = distance_y * sin_vert_angle + vert_offset*cos_vert_angle;

That's all. That would be very nice if you could test the codes with the work you are working on, and see if there would be any improvement and give me some feedback.

Hope you guys have a nice day.

Possible wrong type

Hello,

there is a possible wrong type in velodyne_pointcloud rawdata.h for VLP16.
Original code is :
static const int VLP16_BLOCK_TDURATION = 110.592;
static const int VLP16_DSR_TOFFSET = 2.304;
static const int VLP16_FIRING_TOFFSET = 55.296;

Corrected code would be :
static const float VLP16_BLOCK_TDURATION = 110.592f;
static const float VLP16_DSR_TOFFSET = 2.304f;
static const float VLP16_FIRING_TOFFSET = 55.296f;

Sincerely

convert to catkin for Hydro

velodyne_pointcloud: remove model-dependent "constants" from rawdata.h

PACKETS_PER_REV and SCANS_PER_REV should not be defined as constants in rawdata.h. They are model-dependent.

xref: #26

velodyne_driver: frequency calculation for diagnostics ignores npackets parameter

In driver.cc line 61 there is an obvious bug. The frequency computed is in revolutions per second. That is then set as the expected message frequency for diagnostics.

It needs to be adjusted by the actual value of npackets.

update test data url to download.ros.org

Please update the urls for test data from pr.willowgarage.com to download.ros.org.

• velodyne_driver/CMakeLists.txt
• velodyne_pointcloud/CMakeLists.txt

problems with custom values of npackets

Hi

I just started replacing my custom velodyne driver with this one so that I have less code to maintain ;)

I am trying to publish one packet at a time so that my algorithms can be more incremental, as opposed to having to wait for a whole spin. So I am setting npackets=1. (I am using a 64E_S2 model)

That leads to 2 issues:

1. the diagnostic reports that the frequency is too high: 3472 vs 10

2. when visualized in rviz, with a decay time of 0.1, which should show a full spin, I see only 3 small fractions of the environment that are slowly rotating counterclockwise. I can't explain it, the publishing rate is fine (3472Hz on both velodyne_packets and velodyne_points). I wonder if you can reproduce this and/or explain it. With npackets=15 it seems to vanish or at least less noticeable.

add roslaunch_add_file_check() unit test

Needed for velodyne_driver and velodyne_pointcloud.

See: ros/ros_comm#241

velodyne_pointcloud: dynamic reconfigure limits min_range to 0.9 meters

Some models may support shorter ranges, so configuration should allow smaller settings.

Maybe this is only a theoretical problem, but it prevents people from experimenting.

make driver portable to big-endian machines

There are several places, mostly in unpacking raw data, where little-endian data access is assumed.

Eliminating those dependencies does not look difficult, but I only plan to do that work if someone with a big-endian platform actually requests it. Otherwise, it would not get adequate testing, so why bother?

Connect two HDL 32e together

Hey,

I have two HDL 32e velodyne laser scanners and I connected them using a switch to my computer.

I ran the velodyne package and I'm getting the pointcloud.

The problem is both the pointclouds of the different HDL's are getting combined.

Is there a possibility to seperate the pointclouds?

Unable to open calibration file VLP16db.yaml

Unable to open calibration file: /home/tyler/catkin_ws/src/velodyne/velodyne_pointcloud/params/VLP16db.yaml

That's why?

Release for Indigo

The repository compiles and runs in Indigo. What needs to be done to set up the deb release for Indigo?

VLP-16: Velodyne driver nodelets crash

Hello all,

We are experiencing some frustrating issues with these drivers where the entire nodelet stops functioning. It typically happens after we have run the robot for many hours (12-36) and then begins to happen at a relatively frequent rate (every hour to every couple hours). It seemingly happens randomly and we can not induce it.

We are running our robots with ubuntu 14.04, ros indigo and the VLP16 model. We also are using the ros package pointcloud_to_laserscan to compress the 3d pointcloud into a laserscan for localization. This is run as a nodelet so it should be using the same process and publishes /velodyne_scan and /velodyne_scan2 .

Most of the time the symptoms are that none of the relevant topics are being published (velodyne_nodelet_manager/bond, /velodyne_points, /velodyne_packet /velodyne_scan#) and the node is not pingable. Usually the node still exists but upon running "rosnode info /velodyne_nodelet_manager" at the end of the description it will state in some way an error communicating with the process.

Sometimes the node itself dies off completely and is not listed in rosnode list.

In trying to debug and find the root cause we initiated some debugging. These are the settings we used:
log4j.logger.ros.velodyne_nodelet_manager=DEBUG
log4j.logger.ros.cloud_nodelet=DEBUG
log4j.logger.ros.driver_nodelet=DEBUG
log4j.logger.ros.nodelet=DEBUG
log4j.logger.ros.velodyne_driver=DEBUG
log4j.logger.ros.velodyne_pointcloud=DEBUG

This writes data really fast into the log file and grows by over a hundred MB per hour. However, unfortunately this came up with nothing. This is written to the file over and over for every pointcloud:

^[[32m[DEBUG] [1445929728.337558536]: Received packet, time: 1445929728.299481392^[[0m
^[[32m[DEBUG] [1445929728.337645137]: Received packet, time: 1445929728.300796509^[[0m
^[[32m[DEBUG] [1445929728.337735126]: Received packet, time: 1445929728.302118540^[[0m
^[[32m[DEBUG] [1445929728.337870391]: Received packet, time: 1445929728.303478241^[[0m
^[[32m[DEBUG] [1445929728.337972481]: Received packet, time: 1445929728.304841995^[[0m
^[[32m[DEBUG] [1445929728.338067212]: Received packet, time: 1445929728.306172848^[[0m
^[[32m[DEBUG] [1445929728.338160992]: Received packet, time: 1445929728.307489872^[[0m
^[[32m[DEBUG] [1445929728.338254090]: Received packet, time: 1445929728.308785200^[[0m
^[[32m[DEBUG] [1445929728.338347160]: Received packet, time: 1445929728.310112000^[[0m
^[[32m[DEBUG] [1445929728.338450413]: Received packet, time: 1445929728.311497688^[[0m
^[[32m[DEBUG] [1445929728.338568938]: Received packet, time: 1445929728.312825441^[[0m
^[[32m[DEBUG] [1445929728.338664660]: Received packet, time: 1445929728.314089775^[[0m
^[[32m[DEBUG] [1445929728.338756399]: Received packet, time: 1445929728.315409422^[[0m
^[[32m[DEBUG] [1445929728.338847289]: Received packet, time: 1445929728.316730022^[[0m
^[[32m[DEBUG] [1445929728.338940818]: Received packet, time: 1445929728.318071604^[[0m
^[[32m[DEBUG] [1445929728.339032473]: Received packet, time: 1445929728.319428921^[[0m
^[[32m[DEBUG] [1445929728.339123703]: Received packet, time: 1445929728.320755959^[[0m
^[[32m[DEBUG] [1445929728.339214184]: Received packet, time: 1445929728.322075367^[[0m
^[[32m[DEBUG] [1445929728.339307896]: Publishing 26503 Velodyne points, time: 1445929728322075^[[0m
^[[32m[DEBUG] [1445929728.427584178]: Publishing a full Velodyne scan.^[[0m

When the node dies the log file is abruptly stopped without any indication as to why. In one case I observed it stopped in the middle of the received packet, time: blocks and at one point I observed it stop between publishing the velodyne points and publishing the velodyne scan

Looking at the master.log log file we found slightly more interesting outputs which I will paste at the end here, I would like to attach documents but it says I need write permission to this repository to do so.

Any help in figuring out what is causing our nodes to crash would be greatly appreciated!

One instance:
[rosmaster.master][INFO] 2015-10-18 19:09:14,454: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:14,454: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:14,455: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:14,456: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:14,457: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,544: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,546: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,547: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,548: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,549: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:16,550: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,644: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,646: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,647: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,647: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,648: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:18,649: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,744: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,746: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,748: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,749: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,750: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:20,750: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2015-10-18 19:09:24,157: -PUB [/rosout] /pointcloud_to_laserscan http://min12:50260/
[rosmaster.master][INFO] 2015-10-18 19:09:24,158: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:50260/
[rosmaster.master][INFO] 2015-10-18 19:09:24,160: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:50260/
[rosmaster.master][INFO] 2015-10-18 19:09:24,162: -SERVICE [/pointcloud_to_laserscan/get_loggers] /pointcloud_to_laserscan rosrpc://min12:55271
[rosmaster.master][INFO] 2015-10-18 19:09:24,164: -SERVICE [/pointcloud_to_laserscan/set_logger_level] /pointcloud_to_laserscan rosrpc://min12:55271
[rosmaster.master][INFO] 2015-10-18 19:09:24,183: -PUB [/rosout] /pointcloud_to_laserscan2 http://min12:50447/
[rosmaster.master][INFO] 2015-10-18 19:09:24,185: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:50447/
[rosmaster.master][INFO] 2015-10-18 19:09:24,187: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:50447/
[rosmaster.master][INFO] 2015-10-18 19:09:24,190: -SERVICE [/pointcloud_to_laserscan2/get_loggers] /pointcloud_to_laserscan2 rosrpc://min12:42075
[rosmaster.master][INFO] 2015-10-18 19:09:24,191: -SERVICE [/pointcloud_to_laserscan2/set_logger_level] /pointcloud_to_laserscan2 rosrpc://min12:42075
[rosmaster.master][INFO] 2015-10-18 19:09:24,201: -PUB [/rosout] /driver_nodelet http://min12:42248/
[rosmaster.master][INFO] 2015-10-18 19:09:24,203: -PUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:42248/
[rosmaster.master][INFO] 2015-10-18 19:09:24,205: -SUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:42248/
[rosmaster.master][INFO] 2015-10-18 19:09:24,206: -SERVICE [/driver_nodelet/get_loggers] /driver_nodelet rosrpc://min12:48089
[rosmaster.master][INFO] 2015-10-18 19:09:24,208: -SERVICE [/driver_nodelet/set_logger_level] /driver_nodelet rosrpc://min12:48089
[rosmaster.master][INFO] 2015-10-18 19:09:24,240: publisherUpdate[/rosout] -> http://min12:47039/
[rosmaster.master][INFO] 2015-10-18 19:09:24,241: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/
[rosmaster.master][INFO] 2015-10-18 19:09:24,242: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50260/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,244: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 969, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 829, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 791, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 772, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
error: [Errno 111] Connection refused

[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,245: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,245: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50447/
[rosmaster.master][INFO] 2015-10-18 19:09:24,246: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,248: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,249: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,250: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,250: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/
[rosmaster.master][INFO] 2015-10-18 19:09:24,251: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50447/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,252: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 969, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 829, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 791, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 772, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,252: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,253: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,253: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,253: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,254: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/
[rosmaster.master][INFO] 2015-10-18 19:09:24,254: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,256: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,256: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 969, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 829, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 791, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 772, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,256: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/
[rosmaster.master][INFO] 2015-10-18 19:09:24,265: publisherUpdate[/rosout] -> http://min12:47039/
[rosmaster.master][INFO] 2015-10-18 19:09:24,280: publisherUpdate[/rosout] -> http://min12:47039/
[rosmaster.master][INFO] 2015-10-18 19:09:24,358: -PUB [/rosout] /cloud_nodelet http://min12:43587/
[rosmaster.master][INFO] 2015-10-18 19:09:24,360: -PUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:43587/
[rosmaster.master][INFO] 2015-10-18 19:09:24,361: -SUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:43587/
[rosmaster.master][INFO] 2015-10-18 19:09:24,362: -SERVICE [/cloud_nodelet/get_loggers] /cloud_nodelet rosrpc://min12:35425
[rosmaster.master][INFO] 2015-10-18 19:09:24,363: -SERVICE [/cloud_nodelet/set_logger_level] /cloud_nodelet rosrpc://min12:35425
[rosmaster.master][INFO] 2015-10-18 19:09:24,395: publisherUpdate[/rosout] -> http://min12:47039/
[rosmaster.master][INFO] 2015-10-18 19:09:24,414: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,415: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 969, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 829, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 791, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 772, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,416: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/
[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,417: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:26,965: -SUB [/map] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:26,986: +SUB [/map] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,288: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,290: -PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,292: -SERVICE [/move_base/global_costmap/static_layer/set_parameters] /move_base rosrpc://min12:34615
[rosmaster.master][INFO] 2015-10-18 19:09:27,294: +SERVICE [/move_base/global_costmap/static_layer/set_parameters] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,296: +PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,298: +PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:27,301: +PARAM [/move_base/global_costmap/static_layer/enabled] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,303: +PARAM [/move_base/global_costmap/static_layer/enabled] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,324: +PARAM [/move_base/global_costmap/inflation_layer/enabled] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,325: +PARAM [/move_base/global_costmap/inflation_layer/cost_scaling_factor] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,326: +PARAM [/move_base/global_costmap/inflation_layer/inflation_radius] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,345: +PARAM [/move_base/local_costmap/inflation_layer/enabled] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,347: +PARAM [/move_base/local_costmap/inflation_layer/cost_scaling_factor] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:27,349: +PARAM [/move_base/local_costmap/inflation_layer/inflation_radius] by /move_base
[rosmaster.master][INFO] 2015-10-18 19:09:32,363: -SUB [/map] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:32,382: +SUB [/map] /move_base http://min12:44820/
[rosmaster.master][INFO] 2015-10-18 19:09:32,685: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http:/

ANOTHER EXAMPLE:

[rosmaster.master][INFO] 2015-10-29 10:38:12,246: -PUB [/cloud_nodelet/parameter_updates] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,246: publisherUpdate[/velodyne_packets] -> http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,247: -PUB [/velodyne_scan] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,249: -PUB [/velodyne_scan2] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,250: -SUB [/velodyne_nodelet_manager/bond] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,251: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,251: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,252: -SUB [/velodyne_packets] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,252: publisherUpdate[/rosout] -> http://min12:44797/
[rosmaster.master][INFO] 2015-10-29 10:38:12,253: publisherUpdate[/cat_scan] -> http://min12:41819/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,253: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,254: -SUB [/velodyne_points] /velodyne_nodelet_manager http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,255: occuringpublisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,255: publisherUpdate[/rosout] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,256: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/
[rosmaster.master][INFO] 2015-10-29 10:38:12,257: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,258: -SERVICE [/velodyne_nodelet_manager/get_loggers] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.master][INFO] 2015-10-29 10:38:12,258: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/
[rosmaster.master][INFO] 2015-10-29 10:38:12,259: -SERVICE [/velodyne_nodelet_manager/set_logger_level] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.master][INFO] 2015-10-29 10:38:12,260: publisherUpdate[/velodyne_points] -> http://min12:46470/
[rosmaster.master][INFO] 2015-10-29 10:38:12,261: -SERVICE [/velodyne_nodelet_manager/load_nodelet] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,261: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,262: publisherUpdate[/velodyne_scan] -> http://min12:52444/
[rosmaster.master][INFO] 2015-10-29 10:38:12,262: publisherUpdate[/velodyne_scan] -> http://min12:45521/
[rosmaster.master][INFO] 2015-10-29 10:38:12,263: -SERVICE [/velodyne_nodelet_manager/unload_nodelet] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.master][INFO] 2015-10-29 10:38:12,264: publisherUpdate[/velodyne_scan2] -> http://min12:44477/
[rosmaster.master][INFO] 2015-10-29 10:38:12,264: -SERVICE [/velodyne_nodelet_manager/list] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.master][INFO] 2015-10-29 10:38:12,266: -SERVICE [/cloud_nodelet/set_parameters] /velodyne_nodelet_manager rosrpc://min12:59677
[rosmaster.master][INFO] 2015-10-29 10:38:12,267: publisherUpdate[/velodyne_scan2] -> http://min12:35477/
[rosmaster.master][INFO] 2015-10-29 10:38:12,268: publisherUpdate[/diagnostics] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,269: publisherUpdate[/velodyne_packets] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,269: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,270: publisherUpdate[/velodyne_points] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,270: publisherUpdate[/cloud_nodelet/parameter_descriptions] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,271: publisherUpdate[/cloud_nodelet/parameter_updates] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,271: publisherUpdate[/velodyne_scan] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,272: publisherUpdate[/velodyne_scan2] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,357: -PUB [/rosout] /driver_nodelet http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,358: -PUB [/rosout] /cloud_nodelet http://min12:50975/
[rosmaster.master][INFO] 2015-10-29 10:38:12,359: -PUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,359: -PUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:50975/
[rosmaster.master][INFO] 2015-10-29 10:38:12,360: -SUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,361: -PUB [/rosout] /pointcloud_to_laserscan2 http://min12:38945/
[rosmaster.master][INFO] 2015-10-29 10:38:12,363: -SUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:50975/
[rosmaster.master][INFO] 2015-10-29 10:38:12,364: -SERVICE [/driver_nodelet/get_loggers] /driver_nodelet rosrpc://min12:51483
[rosmaster.master][INFO] 2015-10-29 10:38:12,365: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:38945/
[rosmaster.master][INFO] 2015-10-29 10:38:12,366: -SERVICE [/cloud_nodelet/get_loggers] /cloud_nodelet rosrpc://min12:46616
[rosmaster.master][INFO] 2015-10-29 10:38:12,367: publisherUpdate[/rosout] -> http://min12:44797/
[rosmaster.master][INFO] 2015-10-29 10:38:12,368: -SERVICE [/driver_nodelet/set_logger_level] /driver_nodelet rosrpc://min12:51483
[rosmaster.master][INFO] 2015-10-29 10:38:12,368: publisherUpdate[/rosout] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,372: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:38945/
[rosmaster.master][INFO] 2015-10-29 10:38:12,372: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,373: -SERVICE [/cloud_nodelet/set_logger_level] /cloud_nodelet rosrpc://min12:46616
[rosmaster.master][INFO] 2015-10-29 10:38:12,375: -SERVICE [/pointcloud_to_laserscan2/get_loggers] /pointcloud_to_laserscan2 rosrpc://min12:39129
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,376: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,376: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,377: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,377: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,378: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,379: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,379: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/
[rosmaster.master][INFO] 2015-10-29 10:38:12,380: -SERVICE [/pointcloud_to_laserscan2/set_logger_level] /pointcloud_to_laserscan2 rosrpc://min12:39129
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,380: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,381: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,382: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,382: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,383: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,384: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,384: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,384: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/
[rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,385: Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(args)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close
raise Fault(*self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,386: publisherUpdate[/rosout] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,387: publisherUpdate[/rosout] -> http://min12:44797/
[rosmaster.master][INFO] 2015-10-29 10:38:12,395: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,396: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,397: publisherUpdate[/rosout] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,399: publisherUpdate[/rosout] -> http://min12:44797/
[rosmaster.master][INFO] 2015-10-29 10:38:12,406: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/
[rosmaster.master][INFO] 2015-10-29 10:38:12,485: -PUB [/rosout] /pointcloud_to_laserscan http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,486: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:49823/
[rosmaster.master][INFO] 2015-10-29 10:38:12,486: publisherUpdate[/rosout] -> http://min12:44797/

velodyne_pointcloud: transform.cc loses device frame_id

@gabor-meszaros found this error in transform.cc

// clear input point cloud to handle this packet
inPc_.points.clear();
inPc_.width = 0;
inPc_.height = 1;
inPc_.header.frame_id = scanMsg->header.frame_id;
std_msgs::Header header;
header.stamp = scanMsg->packets[next].stamp;
pcl_conversions::toPCL(header, inPc_.header);

The toPCL overwrites the inPc_header.frame_id with the header variable's frame_id which is an empty string by default.

It appears to have been caused by the PCL 1.7 fix @wjwwood created, and it may affect more packages than just this one. The other pcl_conversion updates in this package all look correct.

See the #11 discussion.

Xcoordinate equation seems wrong in rawdata.cc

Hi,

I was going through the velodyne/rawdata.cc code and felt like line 199 is wrong(dint look right) and it doesnt match with user manual code provided by the velodyne company.

X coordinate should have been xyDistance_sinRotAngle - hoffsetCorr_cosRotAngle.
Currently its + hoffsetCorr*cosRotAngle.

Please correct me if I am wrong.

Thankyou,
~Faiz

VLP 16 - How to convert velodyne_packets to velodyne_points to view in rviz?

I am using the ROS to convert a .PCAP to a bag file. The bag file contains velodyne_packets topic and from the velodyne pointcloud driver ( https://github.com/ros-drivers/velodyne/tree/master/velodyne_pointcloud ) inside of params the VLP16db.yaml file doesn't seem to work. See problem below.

When I run the cloud node ( rosrun velodyne_pointcloud cloud_node _calibration:=/home/abe/velodyne/src/velodyne-master/velodyne_pointcloud/params/VLP16db.yaml ) it runs until I start playing the rosbag that contains the velodye_packets. it does a core dump when i try. Any suggestions?

velodyne-0.9.1 rosbuild failing in Groovy

Linking CXX executable ../../../bin/cloud_node
  ../../../lib/libvelodyne_rawdata.so: undefined reference to `ros::package::getPath(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
  collect2: ld returned 1 exit status
  make[5]: *** [../bin/cloud_node] Error 1

Looks like some dependency that used to depend on roslib stopped doing it.

Error in min/max intensity values in gen_calibration.py converting from xml to yaml

For the case where first non zero minIntensity_ value appears in the middle of the list, it will be errornously placed as the minIntensity of the first laser in the array. For example:

<minIntensity_>
   <count>64</count>
   <item_version>0</item_version>
   <item>0</item>
   <item>0</item>
   <item>10</item> 

The yaml-file will have 10 as the attribute of laser 0 and not 2.

This is happening because the script calls addLaserCalibration(index, ...). If the calibration dictionary is still empty, the value is appended and not inserted by laser index.

Does this ROS packages(velodyne) works for VLP-16?

I bought VLP-16 recently.

I am about to test it with velodyne driver as this github provides.

I have a question: Does this ROS packages(velodyne) works for VLP-16??

Potential Depth-image creation

I would like to see if I could create add the ability to create a depth image to the velodyne stack. I have a theoretical approach lined out:

(from my ros answers post)

I think if I can get the 'rotation' value from the 'row_block_t' (from rawdata.h) and then the 'laser_number' values (from rawdata.cc), I can make a matrix of size ROTATION_MAX_UNITS by SCANS_PER_BLOCK and then store the depth to each pixel (raw->blocks[i].rotation, j). However, I'm kind of unsure on how to access the values I need. I have the velodyne package in my workspace and the rawdata.cc, but I don't know how to use that information.

VLP-16 Multi-Echo Data Structure

Hi everyone,

I'm currently working with a VLP-16 and using it for various applications.

What I've noticed is that, and correct me if I'm wrong, the data structure of the VLP-16 is copied from the HDL-32E, meaning that in Last or Strongest Return Mode, there is actually a Block of 32 "hits" per Laser Fire. The second block of 16 "hits" is just a copy of the first "16".

To be picky, this is doubling the bandwidth required for no reason..

Afterwards, if we are in dual return mode, it doubles this initial information, so it sends 2 blocks of 32 (meaning there is 2 blocks of 16 that are useless), again doubling the bandwidth for no reason.

Can anyone confirm this ? And if so, isn't this an issue ? (probably on Velodyne's side though).

And a side question as a bonus : For anyone using the return mode, how are you differentiating between same point sent twice and an actual point and its echo ?

Regards,

Frederick

velodyne_driver displays ellipse of laser beams instead of circle

Hello, we are using the Velodyne HDL-64E S2 with ROS Hydro for indoor mapping. During this we saw, that the ROS.driver for the Velodyne creates Pointclouds where the Laser-beams are in an ellipse instead of a cicle.

In detail described here(also with bagfiles): http://answers.ros.org/question/124641/velodyne_driver-displays-ellipse-of-laser-beams-instead-of-circle/

ROS-driver: http://robotics.fh-aachen.de/pictures/Screenshot%202014-01-30%2023.29.24.png
PCL-driver: http://robotics.fh-aachen.de/pictures/Screenshot%202014-01-30%2023.31.05.png

Velodyne PCAP player "ghosting" problem

Dear,

this is my first pose so please excuse me any irregularities. I am using velodyne_pointcloud 32e_points.launch with pcap argument to replay data captured by VLP-32E. I am using pierriko code to receive real time stamp, anyway the problem of "ghosting" is the same in any branch. I will try to show this problem in pictures:

This pcap has been captured on a moving vehicle, if you look at the pillar on the pictures you see in first two frames there is one pillar and in third and fourth a second pillar appears, as I notices this appears multiple times over the whole file. The frames are sequential. If the same PCAP file is played with the VeloView there is no "ghosting" problem. There is only one pillar through all frames.

Did anyone notice this problem, is there a solution to this?

Thank You!

velodyne_pointcloud fails to compile with ROS indigo - VelodyneConfigConfig.h not found

I'm trying to compile the latest velodyne stack from source so I can try the VLP-16.
The package velodyne_pointcloud fails to compile because the VelodyneConfigConfig.h file is not generated and then can't be found:

No such file or directory
[/home/USERNAME/catkin_workspaces/velodyne_ws/devel/include/velodyne_pointcloud
                                                                   /VelodyneConfigConfig.h] 

Thanks in advance.

<snip> 

-- Boost version: 1.54.0                                                                                                                       
-- Found the following Boost libraries:                                                                                                        
--   signals                                                                                                                                   
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")                                                                                 
-- checking for module 'yaml-cpp'                                                                                                              
--   found yaml-cpp, version 0.5.1                                                                                                             
-- Configuring done                                                                                                                            
-- Generating done                                                                                                                             
-- Build files have been written to: /home/USERNAME/catkin_workspaces/velodyne_ws/build/velodyne_pointcloud                                    
[velodyne_pointcloud] <== '/home/USERNAME/catkin_workspaces/velodyne_ws/build/velodyne_pointcloud/build_env.sh /usr/bin/cmake /home/USERNAME/catkin_workspaces/velodyne_ws/src/velodyne/velodyne_pointcloud -DCATKIN_DEVEL_PREFIX=/home/USERNAME/catkin_workspaces/velodyne_ws/devel -DCMAKE_INSTALL_PREFIX=/home/USERNAME/catkin_workspaces/velodyne_ws/install -DCMAKE_BUILD_TYPE=RelWithDebInfo' finished with return code '0' 
[velodyne_pointcloud] ==> '/home/USERNAME/catkin_workspaces/velodyne_ws/build/velodyne_pointcloud/build_env.sh /usr/bin/make --jobserver-fds=3,6 -j' in '/home/USERNAME/catkin_workspaces/velodyne_ws/build/velodyne_pointcloud' 
Scanning dependencies of target velodyne_pointcloud_gencfg                                                                                     
Scanning dependencies of target velodyne_rawdata                                                                                               
Scanning dependencies of target ringcolors_node                                                                                                
Scanning dependencies of target ringcolors_nodelet    

[  6%] Generating dynamic reconfigure files from cfg/VelodyneConfig.cfg: /home/USERNAME/catkin_workspaces/velodyne_ws/devel/include/velodyne_pointcloud/VelodyneConfigConfig.h /home/USERNAME/catkin_workspaces/velodyne_ws/devel/lib/python2.7/dist-packages/velodyne_pointcloud/cfg/VelodyneConfigConfig.py 

/usr/bin/env: python                                                                                                                           
: No such file or directory                                                                                                                    
make[2]: *** [/home/USERNAME/catkin_workspaces/velodyne_ws/devel/include/velodyne_pointcloud/VelodyneConfigConfig.h] Error 127     

make[1]: *** [CMakeFiles/velodyne_pointcloud_gencfg.dir/all] Error 2                                                                           
make[1]: *** Waiting for unfinished jobs....                                                                                                   
[ 20%] [ 20%] Building CXX object src/lib/CMakeFiles/velodyne_rawdata.dir/rawdata.cc.o                                                         
Building CXX object src/lib/CMakeFiles/velodyne_rawdata.dir/calibration.cc.o                                                                   

<snip>

Need a new, different model name to support HDL-64E S2 and S2.1

Those models produce data at about 1.333 MB/s, different from the 1.0 MB/s of the older HDL-64E. That makes the packet_rate calculation wrong.

References:

• Velodyne HDL-62E S2 and S2.1 product manual (PDF)
• http://answers.ros.org/question/67320/packet-rate-of-velodyne-hdl-64e-in-velodyne_driver/

For user convenience, we should construct the new model parameter string with no spaces, perhaps something like 64E_S2.x.

Supply URDF, Gazebo config?

Would this repository consider adding a velodyne_description package, with a xacro for spawning Velodyne sensors (especially the HDL-32e) into larger robot models? If so, I could work on preparing such a thing.

A simple example of something comparable would be the flir_ptu_description package available alongside the FLIR driver, which provides a macro for the popular D46 device.

Velodyne pointcloud node for HDL 32 doesn't seem to run?

I have a HDL 32 and a VLP 16. So when I try to run the roslaunch or the pointcloud node I get the following error?

$ rosrun velodyne_pointcloud cloud_node _calibration:=32db.yaml
[ INFO] [1458049427.031892132]: correction angles: 32db.yaml
YAML Exception: yaml-cpp: error at line 0, column 0: bad conversion
[ERROR] [1458049427.036928149]: Unable to open calibration file: 32db.yaml
[ INFO] [1458049427.043593822]: Reconfigure Request

YAML Exception: yaml-cpp: error at line 0, column 0: bad conversion

Can anyone pls suggest what I should be doing to solve this?

IMU input support is needed for point cloud creation

IMU data should be considered when you generate the point cloud from velodyne packates.

Whith the current implementation when you see the generated pointcloud frame by frame you can observe duplicated objects:

I think the reason of this artifact is the following:

Let's assume the scan starts in t0 and the red line is the first data in the scan. It detects the big red dot. The scanline moves in counterclockwise direction (red arrow). During the scan the car/lidar moves on the gray arrow. In t1 -before the finishing the revolution, so it is still one frame- the green scan line (started from the t1 point) detects the same object that it detected in t0.

As I read the LiDAR rotates in clockwise direction but I do not want to redraw the figure. The result is the same.

If the car moves with 36 Km/h and the LiDAR rotates on 10hz that means the following:
22.3 mph = 36 km/h = 10m/s; 0.1 sec = 1 m ==> The difference can be 1 meter (3.28 feet). If the car moves faster it even worse.

I think an IMU can help to make it correct (or at least make it better) but we cannot use it on the pointcloud. We have to work with the raw packets.

Sometimes it makes the object recognition difficult because if two object moves close to each other the algorithm detects them one object. It can also result problems in frame registration.

Have you encountered with this problem in the past? Is it possible if it has a different reason? Do you consider it a real issue or it can be treated as "noise".

velodyne-1.0.0 debbuild failing

pluginlib dependency not resolved

• http://jenkins.willowgarage.com:8080/job/ros-hydro-velodyne-driver_sourcedeb/

Looks like an explicit dependency on pluginlib is now required. Both velodyne_driver and velodyne_pointcloud probably need it.

velodyne: clean up catkin unit tests

This must wait until a new catkin release permits proper addressing of the downloaded test PCAP files.

See: ros/catkin#426

velodyne_driver: use port number when reading PCAP data

When the UDP port was added to InputSocket, InputPCAP was overlooked.

That causes bugs when the PCAP contains packets for other ports, such as port 8308 position packets.

While fixing this, I also want to export those classes from velodyne_driver, so they can be used for handling position packets, too.

xref: #62

need a new ROS Indigo release

There are lots of enhancements that should be released.

Docs need updating.

velodyne_pointcloud: change default min_range to 0.9 meters

The default has been 2.0 for may years, but not for any good reason. Unfortunately, changing it now may break some applications. Although the fix will be simple, diagnosing the problem might be tricky.

Because this is an API change, it should not be released before Indigo.

According to Velodyne documentation, 90 cm is the actual minimum range of the lasers. That would be the best default value for most users.

Note that #22 added dynamic reconfigure for this and other parameters.

Number of packets published per message is not exactly a revolution if "npackets" set to default

Hello@all,

we would like to submit a patch (velodyne_driver/driver.cc) which would cut the packet stream in a better way, so that a single revolution always starts/ends at a specific angle (for example while the LIDAR points to the robot).
There are two reasons for that:
First is that we've never seen a Velodyne LIDAR (we work with multiple 64E S2 and 32E models) whose rotation speed is very stable. Especially the 64E S2 models tend to be much slower than set when the enviroment temperature is low (10Hz measured instead of 15Hz set at 5-10°C). And our 32E models are varying between 9 and 11 Hz (indoor, same temperature), but all are set to 10Hz. Along with the varying rotation speed the number of packets per revolution vary a lot. This leads in the end to overlapping or missing sectors in the published pointclouds. (It actually looks quite cool in RViz :-D, but it can be a problem for some algorithms)
Second reason is that start and end of a revolution are an discontinuous area (if the robot moves), which can lead to wrong algorithm results in this area. With setting "the cut" to a specific angle you can move this area to an angle where it doesn't matter if you get wrong results.

Any objections?

Best regards
Denis

VLP-16: VeloView returns data at shorter range than this driver

Using our driver, I am unable to see anything closer than about 0.9m with the VLP-16.

Using the VeloView program on Windows, we were able to see objects with the same device at about half that distance, 45cm.

When using a VLP-16 with indoor robots, that difference is critical. We need to figure out how it is done.

xref: #60
cc: @piyushk, @PatrickHussey, @bricerebsamen

velodyne_pointcloud: transform node and nodelet not meeting expected Hz levels

The tests are only running at under 3Hz on the build farm due to transform lookup delays.

Proposed addition of GPS and IMU data

Hey,

I was wondering why no one ever added in the GPS and IMU data.
I am going to be working on this, and might ask for a merger later.

make unit tests conditional on CATKIN_ENABLE_TESTING

This is a new catkin requirement.

velodyne_driver: vdump not installed in catkin version

see: #16

Using pcap timestamp

Hello,

Is there any way to convert a pcap to a rosbag using timestamp form the pcap ?

In InputPCAP::getPacket: pkt->stamp = ros::Time::now(); while pcap_pkthdr contains a timeval.

• https://github.com/ros-drivers/velodyne/blob/master/velodyne_driver/src/lib/input.cc#L245

Would it be interesting to replace the ros::Time::now by header.ts ?

Do the VLP-16 axes in Rviz match the axes in the User Manual?

Do the cartesian axes of the PointCloud from the VLP-16 (as seen in Rviz) match the axes shown in Velodyne's User Manual?
For me it looks to be different.

http://velodynelidar.com/docs/manuals/VLP-16%20User%20Manual%20and%20Programming%20Guide%2063-9243%20Rev%20A.pdf

Here are the x,y,z axes specified in the User Manual:

This is those same axes in relation to the real sensor:

With the sensor in this same position, when I look at the PointCloud in Rviz, the axes of the /velodyne frame appear to be different by 1 rotation of 90 degrees.
You can see the x-axis and y-axis are in a different position:

need ROS Jade release

This will follow the Indigo release mentioned in #59.

After that, we can make some changes that do not seem necessary or desirable for Indigo, which has already been in widespread use for almost two years.

Issue with apt-get ros on Ubuntu and gen_calibration.py

I was trying to get my Velodyne HDL-32E working with ROS. I had some trouble doing the calibration step in this tutorial. It seems that the gen_calibration.py file in the tutorial didn't make it into the apt repository. I had to do the following:

• sudo mkdir /opt/ros/hydro/lib/velodyne_pointcloud/scripts/
• sudo cp gen_calibration.py /opt/ros/hydro/lib/velodyne_pointcloud/scripts/ using the gen_calibration.py file I found in this repo.

Can we update the apt-get setup?

fail to read calibration

When running the tests, it complains about not being able to read the calibration file:

[velodyne_pointcloud.rosunit-cloud_nodelet_32e_hz_test/test_hz][passed]

SUMMARY
 * RESULT: SUCCESS
 * TESTS: 1
 * ERRORS: 0
 * FAILURES: 0

rostest log file is in /home/default/.ros/log/rostest-164-28207.log
-- run_tests.py: verify result "/home/default/ros_ws/build/test_results/velodyne_pointcloud/rostest-tests_cloud_nodelet_32e_hz.xml"
[100%] Built target _run_tests_velodyne_pointcloud_rostest_tests_cloud_nodelet_32e_hz.test
-- run_tests.py: execute commands
  /opt/ros/indigo/share/rostest/cmake/../../../bin/rostest --pkgdir=/home/default/ros_ws/src/velodyne/velodyne_pointcloud --package=velodyne_pointcloud --results-filename tests_cloud_node_hz.xml /home/default/ros_ws/src/velodyne/velodyne_pointcl
oud/tests/cloud_node_hz.test
... logging to /home/default/.ros/log/rostest-164-28616.log
[ROSUNIT] Outputting test results to /home/default/ros_ws/build/test_results/velodyne_pointcloud/rostest-tests_cloud_node_hz.xml
YAML Exception: yaml-cpp: error at line 0, column 0: bad conversion
[ERROR] [1427931670.442163378]: Unable to open calibration file: /home/default/ros_ws/src/velodyne/velodyne_pointcloud/params/64e_utexas.yaml
testcloud_node_32e_hz_test ... ok

Note the ERROR towards the end. In gdb I traced it to calibration.cc:70 where it reads HORIZ_OFFSET_CORRECTION. The corresponding field does not exist in the calibration file. Was probably introduced in fc20169

Generated calibration has invalid values

When I do this:

rosrun velodyne_pointcloud gen_calibration.py example.xml

then run

roslaunch velodyne_driver nodelet_manager.launch
roslaunch velodyne_pointcloud cloud_nodelet.launch  calibration:=/path/to/example.yaml

I get see an error in the nodelet manager output:

YAML Exception: yaml-cpp: error at line 0, column 0: bad conversion
[ERROR] [1430497621.262533093]: Unable to open calibration file:  /path/to/example.yaml

I spent some time comparing the output to the output from the 64e_utexas.yaml that is included, and found that the min_intensity and max_intensity values seemed to be causing a problem. If I convert them from floats to ints (e.g. 40.0 to 40) in the yaml, then the command

roslaunch velodyne_pointcloud cloud_nodelet.launch  calibration:=/path/to/example-fixed.yaml

works as expected.

packet ending bytes format inquiry

Hi,
I find this packet format seems not consistent with the format from either HDL-64E S2 or HDL-32E manuals, where the ending 6 bytes in a packet is define as:

The 6 extra bytes at the end of the HDL-32E data packet are used to report GPS timing. For every packet, the last 6 bytes are formatted as follows:
4 bytes: 32 bit unsigned integer time stamp. This value represents microseconds from the top of the hour to the first laser firing in the packet.
2 bytes: blank

So just curious why they are different.