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Velodyne 32c #184

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merged 2 commits into from
Oct 30, 2023
Merged

Velodyne 32c #184

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ea2cf4c
Initial additional of velodyne 32c
hilary-luo Oct 29, 2023
fdaab2a
Update velodyne node name
hilary-luo Oct 29, 2023
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33 changes: 28 additions & 5 deletions docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -966,7 +966,7 @@ lidar2d:

### LiDAR 3D

- **_velodyne_lidar:_**
- **_velodyne_lidar - 16:_**

```yaml
lidar3d:
Expand All @@ -982,12 +982,35 @@ 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
```


- **_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}

<details><summary>Sample A200 Sensors Section</summary>
Expand Down Expand Up @@ -1019,7 +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
Expand Down Expand Up @@ -1146,7 +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
Expand Down