Convert Raw Velodyne VLP16 pcap to bagFile

asked 2015-07-07 16:51:38 -0600

Droter
90 ●9 ●13 ●17

Hi,

I have some raw velodyne VLP16 data in a pcap file. Is there a way to convert it to a ros bagFile?

Here is a link to the raw log file: https://goo.gl/MJDfWA

Thanks,

Matt

answered 2015-07-08 19:50:04 -0600

joq
25443 ●181 ●256 ●408

updated 2018-01-02 09:22:56 -0600

There is preliminary VLP16 support in the ROS velodyne driver, but it is not yet released.

Update: VLP-16 support is now released as binary packages in both Indigo and Kinetic.

Since that version is not released, you would need to build it from source in a catkin workspace. (Ask if you don't know how to do that.)

Once you have built that driver in your catkin workspace, run these commands in separate terminal windows:

roscore

...

rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=/your/pcap/path/data.pcap _read_once:=true

...

rosrun rosbag record -O your_vlp16_070815.bag /velodyne_packets

See the rosbag record documentation for other options and details.

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Comments

I built my driver into my catkin workspace but after executing the first rosrun "rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=/your/pcap/path/data.pcap _read_once:=true" it gives me a fatal error (Error opening Velodyne socket dump file). Any suggestions as to why?

dwolfe ( 2015-07-20 19:15:55 -0600 )edit

Is the path to your PCAP file correct?

joq ( 2015-07-21 16:55:02 -0600 )edit

yes that was the problem. Thanks. It seems like the last two commands should be run simultaneously. Is that True? In order to capture the whole pcap file? or does it not matter? Is this only recording the velodyne packets? no points show up when i rosbag play the file in rviz

dwolfe ( 2015-07-23 18:39:15 -0600 )edit

All three commands should be run in separate terminal windows. To get all the packets, you should probably start the velodyne_driver several seconds after starting rosbag.

joq ( 2015-07-23 21:02:32 -0600 )edit

Once I have the bag file how can I view it?

dwolfe ( 2015-07-30 15:18:01 -0600 )edit

Use rosbag play to publish /velodyne_packets, then use velodyne_pointcloud and rviz to view the results, as if using with the actual device.

joq ( 2015-07-31 15:46:05 -0600 )edit

After I run the second command, it says "[ERROR] [1485795341.945746381]: unknown Velodyne LIDAR model: VLP16" Do you have any idea?