From ea2cf4c90ffae9479f125f8ab0840b5d775ff6de Mon Sep 17 00:00:00 2001 From: Hilary Luo Date: Sat, 28 Oct 2023 20:48:14 -0400 Subject: [PATCH 1/2] Initial additional of velodyne 32c --- .../version-ros2humble/ros/config/yaml.mdx | 25 ++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx b/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx index bd655e30..fd6ba4cc 100644 --- a/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx @@ -966,7 +966,7 @@ lidar2d: ### LiDAR 3D -- **_velodyne_lidar:_** +- **_velodyne_lidar - 16:_** ```yaml lidar3d: @@ -988,6 +988,29 @@ lidar3d: target_frame: lidar3d_0_laser ``` + +- **_velodyne_lidar - 32C:_** + +```yaml + - model: velodyne_lidar + urdf_enabled: true + launch_enabled: true + parent: base_link + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + velodyne_driver_node: + frame_id: lidar3d_0_laser + device_ip: 192.168.131.25 + port: 2368 + model: 32C + velodyne_transform_node: + model: 32C + calibration: /opt/ros/humble/share/velodyne_pointcloud/params/VeloView-VLP-32C.yaml + fixed_frame: lidar3d_0_laser + target_frame: lidar3d_0_laser +``` + ### Sample {#sensors-sample}
Sample A200 Sensors Section From fdaab2a11dc760776f4e674b513459b412178ed0 Mon Sep 17 00:00:00 2001 From: Hilary Luo Date: Sat, 28 Oct 2023 20:48:59 -0400 Subject: [PATCH 2/2] Update velodyne node name --- .../version-ros2humble/ros/config/yaml.mdx | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx b/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx index fd6ba4cc..57a0c5dc 100644 --- a/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx @@ -169,7 +169,7 @@ sensors: device_ip: 192.168.131.25 port: 2368 model: VLP16 - velodyne_convert_node: + velodyne_transform_node: model: VLP16 fixed_frame: lidar3d_0_laser target_frame: lidar3d_0_laser @@ -982,7 +982,7 @@ lidar3d: device_ip: 192.168.131.25 port: 2368 model: VLP16 - velodyne_convert_node: + velodyne_transform_node: model: VLP16 fixed_frame: lidar3d_0_laser target_frame: lidar3d_0_laser @@ -1042,7 +1042,7 @@ lidar3d: device_ip: 192.168.131.25 port: 2368 model: VLP16 - velodyne_convert_node: + velodyne_transform_node: model: VLP16 fixed_frame: lidar3d_0_laser target_frame: lidar3d_0_laser @@ -1169,7 +1169,7 @@ sensors: device_ip: 192.168.131.25 port: 2368 model: VLP16 - velodyne_convert_node: + velodyne_transform_node: model: VLP16 fixed_frame: lidar3d_0_laser target_frame: lidar3d_0_laser