ROS笔记-19 Velodyne.txt

1. install dependencies
 sudo apt-get install libpcap*
 
2. create ros workspace
 mkdir ROS_ws
 cd ROS_ws
 mkdir src & cd src
 catkin_init_workspace
 cd ..
 catkin_make
 
3. git clone
 cd src
 git clone https://github.com/ros-drivers/velodyne.git
 cd ..
 catkin_make
 
4. configure your ethernet(here is enp3s0)
 sudo ifconfig enp3s0 192.168.1.110 netmask 255.255.255.0
 ping 192.168.1.201
	it should be ping successfully!!

5. Getting Started with the Velodyne HDL-32E
	http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20HDL-32E
	
  4.1 rosrun velodyne_pointcloud gen_calibration.py 32db.xml
  
  4.2 roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/durant35/Workspace/ROS_ws/32db.yaml
  
  4.3 rosrun rviz rviz -f velodyne
  
6. velodyne_height_map --> Obtacles Detection
	http://wiki.ros.org/velodyne_height_map
	
 6.1 roslaunch velodyne_height_map heightmap_launch.launch
  	<launch>
	  <!-- start nodelet manager and driver nodelets -->
	  <!-- start transform nodelet using test calibration file -->
	  <include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
		<arg name="calibration"
		     value="/home/durant35/Workspace/ROS_ws/32db.yaml"/>
	  </include>
	  <!-- start heightmap nodelet -->
	 <node pkg="velodyne_height_map" type="heightmap_node" name="heightmap_node">
		<param name="full_clouds" type="bool" value="true"/>
	 </node>
	</launch>
 6.2 rosrun rviz rviz -f velodyne