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How to modify LIDAR returns

asked 2020-02-02 08:37:29 -0600

avdev
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Autoware 1.12.0: I am trying to intercept the raw lidar that comes out of the sensor and modify it. Which file in Autoware recieves the raw LIDAR data from the sensor?

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Looking for a flow chart (or ROS nodes/topics/messages) of how the Lidar processing works. Where can I find this?

avdev ( 2020-02-05 21:23:50 -0600 )edit

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answered 2020-02-11 12:03:26 -0600

Josh Whitley

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@avdev Currently the majority of Autoware.ai assumes that the lidar being used is a Velodyne lidar. Since this is the case, it would be using the open-source Velodyne ROS driver. The driver reads the raw data as UDP packets from a network interface and translates them first into "scans," then into sensor_msgs/PointCloud2 messages. After that, you can easily modify the point cloud. If you want the data at a lower level, you'll either have to modify the Velodyne driver or use something like PCAP/WireShark to capture the raw network packets.

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Asked: 2020-02-02 08:37:29 -0600

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Last updated: Feb 11 '20

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