Velodyne VLP16 RAW data to Rosbag conversion Error -2
Hello everyone,
I am trying to convert a raw Velodyne VLP16 .pcap file to Rosbag but I am getting stuck in the first step. Basically, I run the following command:
$ roslaunch velodyne_pointcloud VLP16_points.launch pcap:=$(pwd)/velodyne_lidar.pcap readonce:=true
Then when I try to see the published information at /velodyne_points "rostopic echo /velodyne_points" is not printing anything. I am getting the following warning --> Error -2 reading Velodyne packet
Has anyone ever experienced this issue? Thanks in advance.
If you try this command using your own filename, do you see any messages on /scan?
Note: this is rosrun, not roslaunch, so the underscore in front of pcap indicates it's a private parameter, not a topic name remap.
Hi Mike,
Thanks very much for your reply. I tried the command you suggested but I am still getting the same error --> [ WARN] [1632399476.053965374]: Error -2 reading Velodyne packet.
I tried other .pcap files from the internet and they work perfectly meaning that I see data output on /velodyne_points. I tried to filter packets on the .pcap files giving me the -2 error (I used Wireshark for that, mainly keeping UDP packets), but still not working and giving the same error. Any ideas? Thanks in advance.
Sounds like it is that specific pcap file. In wireshark, I would check the destination port number in the udp header. I believe the driver expects it to be 2368. If your file has something different, you have to specify it on the command line.
Hi Mike,
That worked perfectly Thanks very much. Really appreciate it :)