Wrong sensor head issue

[trgross-dfki]

When testing the driver we always receive the following error:

Received data from a different sensor head!
Received data from a different sensor head!
Received data from a different sensor head!
1.187 [ ERROR  ][OrbRunner] velodyne: Read timeout! Received no new packets from the sensor.

This error can be traced back to the following block of code:

drivers-velodyne_lidar/src/velodyneDataDriver.cpp

Lines 148 to 152 in d386ba1

	if(buffer[VELODYNE_DATA_MSG_BUFFER_SIZE-1] != sensor_type)
	{
	std::cerr << "Received data from a different sensor head!" << std::endl;
	return -buffer_size;
	}

Per Velodyne documentation, buffer[VELODYNE_DATA_MSG_BUFFER_SIZE-1] should be equal to one of the following values:

From a bit of testing it seems like buffer[VELODYNE_DATA_MSG_BUFFER_SIZE-1] is always 0x00 when receiving data from a VLP16 (should be 0x22). It is unclear what causes this issue.

Removing the above mentioned block of code allows the driver to work like normal.

[jmachowinski]

Old firmware on the scanner ?

[trgross-dfki]

Updated Velodyne to most recent version, 3.0.38, but still having the same issue