ROS-multi-velodyne

This is the ROS package containing example code of

• launch files converting multiple Velodyne sensor inputs to multiple PointCloud2 topics
• Python script and a launch file of a ROS node subscribing multiple PointCloud2 topics and publishing modified PointCloud2 topics

Written by Jaeil Park, Seoul Robotics 2017

Key files

launch/cloud_nodelet.launch

File to launch nodelets to receive velodyne sensor inputs (velodyne_packets) and convert to point cloud messages. You can modify driver options and conversion options with arguments. For example, you can change the topic name with topic_name argument.

launch/cloud_listener.launch

File to launch cloud_listner.py node. See script/cloud_listener.py.

script/cloud_listener.py

A ROS node subscribing two PointCloud2 topics emitted by cloud_nodelet.launch. When a PointCloud2 topic is received, the node translates XYZ points in the topic by topicN_shift and publishes translated XYZ points (without intensity and laser id) with a prefix translated/ which makes the name of a new topic translated/original_topic_name. Frame id of the new topic is velodyne, same as the original topic's.

test_script/run_test.launch

A launch file launching cloud_nodelet.launch file twice to receive messages from two Velodyne sensors, and cloud_listener.launch file to manipulate point clouds.

• Important: You have to assign a different port number to each Velodyne sensor.