velodyne-128 driver issue

[YangJunghoon]

Please complete the following information:

• OS and Version: [Ubuntu 22.04]
• ROS Version: [humble]
• Built from Source or Downloaded from Official Repository:
• Version: sudo apt install ros-humble-velodyne ros-humble-pcl-ros ros-humble-visualization-msgs

Describe the bug
velodyne_transform_node-2] [INFO] [1727069870.757835119] [velodyne_transform]: correction angles: config/VLS128.yaml
[velodyne_driver_node-1] terminate called after throwing an instance of 'std::runtime_error'
[velodyne_driver_node-1] what(): Unknown Velodyne LIDAR model: VLS-128

To Reproduce
Steps to reproduce the behavior:

1. I found out that you guys updated the vls-128 version.
2. so i setup through sudo apt install ros-humble-velodyne ros-humble-pcl-ros ros-humble-visualization-msgs
3. and make nodes like, ex) Node(
   package='velodyne_driver',
   executable='velodyne_driver_node',
   name='velodyne_driver',
   parameters=[{
   'frame_id': 'velodyne',
   'model': 'VLS-128'
   }],
   output='screen'
   ),
   Node(
   package='velodyne_pointcloud',
   executable='velodyne_transform_node',
   name='velodyne_transform',
   parameters=[{
   'min_range': 0.4,
   'max_range': 130.0,
   'calibration': 'config/VLS128.yaml',
   'model': 'VLS-128'
   }],
   output='screen'
   )
4. but i got [velodyne_driver_node-1] terminate called after throwing an instance of 'std::runtime_error'
   [velodyne_driver_node-1] what(): Unknown Velodyne LIDAR model: VLS-128
   [velodyne_transform_node-2] [WARN] [1727069870.763872376] [velodyne_pointcloud]: Timings not supported for model VLS-128
   [velodyne_transform_node-2] [WARN] [1727069870.763890396] [velodyne_pointcloud]: NO TIMING OFFSETS CALCULATED. ARE YOU USING A SUPPORTED VELODYNE SENSOR?
   [ERROR] [velodyne_driver_node-1]: process has died [pid 90514, exit code -6, cmd '/opt/ros/humble/lib/velodyne_driver/velodyne_driver_node --ros-args -r __node:=velodyne_driver --params-file /tmp/launch_params_lzog4cqa'].
5. i checked up ros/humble/share/velodyne_driver/launch, then i found velodyne_driver_node-VLP16-composed-launch.py,velodyne_driver_node-VLP16-launch.py, velodyne_driver_node-VLP32C-composed-launch.py, velodyne_driver_node-VLP32C-launch.py but o couldn't found 128,
6. How do I use version 128

Expected behavior
using VLS-128 driver

[valgur]

Set the model ID to VLS128 to fix the issue.

[YangJunghoon]

i tried that
Node(
package='velodyne_driver',
executable='velodyne_driver_node',
name='velodyne_driver',
parameters=[{
'frame_id': 'velodyne',
'model': 'VLS128'
}],
output='screen'
),
Node(
package='velodyne_pointcloud',
executable='velodyne_transform_node',
name='velodyne_transform',
parameters=[{
'min_range': 0.4,
'max_range': 130.0,
'calibration': 'config/VLS128.yaml',
'model': 'VLS128'
}],
output='screen'
)
but return error
[velodyne_transform_node-2] [INFO] [1727073236.440597056] [velodyne_transform]: correction angles: config/VLS128.yaml
[velodyne_driver_node-1] terminate called after throwing an instance of 'std::runtime_error'
[velodyne_driver_node-1] what(): Unknown Velodyne LIDAR model: VLS128
[velodyne_transform_node-2] [WARN] [1727073236.447534543] [velodyne_pointcloud]: Timings not supported for model VLS128
[velodyne_transform_node-2] [WARN] [1727073236.447553540] [velodyne_pointcloud]: NO TIMING OFFSETS CALCULATED. ARE YOU USING A SUPPORTED VELODYNE SENSOR?
[ERROR] [velodyne_driver_node-1]: process has died [pid 94803, exit code -6, cmd '/opt/ros/humble/lib/velodyne_driver/velodyne_driver_node --ros-args -r __node:=velodyne_driver --params-file /tmp/launch_params_t0ly_cme'].

[valgur]

Ok, that's a bug in the driver then:

velodyne/velodyne_pointcloud/src/lib/rawdata.cpp

Lines 188 to 210 in d8cf623

	} else if (config_.model == "VLS128") {
	timing_offsets_.resize(3);
	for (size_t i = 0; i < timing_offsets_.size(); ++i) {
	timing_offsets_[i].resize(17); // 17 (+1 for the maintenance time after firing group 8)
	}
	double full_firing_cycle = VLS128_SEQ_TDURATION * 1e-6; // seconds
	double single_firing = VLS128_CHANNEL_TDURATION * 1e-6; // seconds
	double offset_paket_time = VLS128_TOH_ADJUSTMENT * 1e-6; // seconds
	double sequenceIndex, firingGroupIndex;
	// Compute timing offsets
	for (size_t x = 0; x < timing_offsets_.size(); ++x) {
	for (size_t y = 0; y < timing_offsets_[x].size(); ++y) {
	sequenceIndex = x;
	firingGroupIndex = y;
	timing_offsets_[x][y] =
	(full_firing_cycle * sequenceIndex) + (single_firing * firingGroupIndex) -
	offset_paket_time;
	RCLCPP_DEBUG(
	rclcpp::get_logger("velodyne_pointcloud"),
	"firing_seque %lu firing_group %lu offset %f", x, y, timing_offsets_[x][y]);
	}
	}

Btw, you can give https://github.com/valgur/velodyne_decoder a try. It's not a direct replacement, but the precise timing info for VLS-128 is definitely supported there, together with dual-return support and other improvements.