78 lines
2.3 KiB
Plaintext
78 lines
2.3 KiB
Plaintext
/**
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\mainpage
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\htmlinclude manifest.html
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ROS device driver for Velodyne 3D LIDARs.
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\section read Velodyne device driver
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ROS device driver node that captures Velodyne 3D LIDAR data and
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publishes it to the \b velodyne_msgs/VelodyneScan topic.
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\subsection read_examples Examples
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Read the Velodyne input socket as fast as possible. Publish each
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complete revolution to \b velodyne/rawscan.
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\verbatim
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$ rosrun velodyne_driver velodyne_node
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\endverbatim
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Read previously captured Velodyne packets from dump.pcap file.
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Publish messages to \b velodyne/rawscan at approximately 10 Hz rate.
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Dump files can be grabbed by libpcap, Velodyne's DSR software,
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ethereal, wireshark, tcpdump, or the velodyne_driver vdump command.
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\verbatim
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$ rosrun velodyne_driver velodyne_node _pcap:=dump.pcap
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\endverbatim
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\subsection read_names ROS names
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Node name: \b velodyne_node
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Publishes: \b velodyne_packets raw Velodyne data packets for one
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entire revolution of the device.
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Parameters:
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- \b ~pcap (string): PCAP dump input file name (default: use real device)
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- \b ~input/read_once (bool): if true, read input file only once
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(default false).
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- \b ~input/read_fast (bool): if true, read input file as fast as
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possible (default false).
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- \b ~input/repeat_delay (double): number of seconds to delay before
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repeating input file (default: 0.0).
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\section vdump_command Vdump Command
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The vdump command dumps raw data from the Velodyne LIDAR in PCAP
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format. It is a shell script wrapper with some obscure options for
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the powerful tcpdump command.
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Other methods of acquiring PCAP data include using tcpdump directly,
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wireshark, Velodyne's DSR software, and programming with libpcap.
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\subsection vdump_usage Usage
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\verbatim
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rosrun velodyne_driver vdump <file_prefix> [ <interface> ]
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<file_prefix> file name to dump (with 3-digit number suffix)
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<interface> interface to read from (default: "eth1")
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\endverbatim
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\subsection vdump_examples Examples
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Dump Velodyne packets to a series of files named "pcap-000",
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"pcap-001", etc. Each file will be about 100MB, holding a little more
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than 30 seconds of Velodyne packets. Type ^C when finished.
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\verbatim
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$ rosrun velodyne_driver vdump pcap- eth0
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\endverbatim
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*/
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