velodyne-docker

Dockerized Velodyne LiDAR package.

Velodyne configuration

Connect to Velodyne using an ethernet cable.

To access the sensor's Web Interface, you must know the sensor's Ip. You can find it for example using nmap:

Find your ethernet Ip:

ifconfig

Use your ethernet Ip to find devices in the same network. You need to replace the last number of Ip with 0/24 for example if your Ip is 10.15.20.1 then:

nmap -sn 10.15.20.0/24

This will list all devices in the same network including Velodyne.

Then you need to specify the host to which Velodyne will be able to send data. In the browser enter the sensor Ip to access Web Interface. Go to Host (Destination) and change Ip Address to your device. Click the set button on the right, then go to the bottom and click the Save configuration button.

For more information about Velodyne configuration refer to official User Manuals.

Run Velodyne in docker

Clone this repo:

git clone https://github.com/husarion/velodyne-docker

Sensor's parameters can be changed inside the compose.yaml file.

Run docker compose:

cd velodyne-docker
docker compose up

You should be able to see sensor data on the /velodyne_points topic with standard sensor_msgs/PointCloud2 message type.

Run with the Husarion Panther robot

To run the Velodyne Puck sensor with the Husarion Panther robot you need to specify a transform between the robot and LIDAR links. Sensor position relative to the robot can be set by editing the panther_velodyne.launch file in the /panther_velodyne directory. Then go to the panther_velodyne directory and run:

cd panther_velodyne
docker compose up