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ROS driver for Velodyne VLS-128 added
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‎modules/drivers/velodyne_vls/COPYING

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Copyright (C) 2010-2013 Austin Robot Technology, and others
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All rights reserved.
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All code in this repository is released under the terms of the
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following Modified BSD License.
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Modified BSD License:
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--------------------
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the following
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disclaimer in the documentation and/or other materials provided
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with the distribution.
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* Neither the names of the University of Texas at Austin, nor
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Austin Robot Technology, nor the names of other contributors may
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be used to endorse or promote products derived from this
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software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.

‎modules/drivers/velodyne_vls/README.md

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# ros-velodyne-vls128-driver
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Repository for Velodyne releases for Baidu

‎modules/drivers/velodyne_vls/README.rst

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Overview
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========
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Velodyne_ is a collection of ROS_ packages supporting `Velodyne high
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definition 3D LIDARs`_.
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**Warning**::
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The master branch normally contains code being tested for the next
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ROS release. It will not always work with every previous release.
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The current ``master`` branch works with ROS Kinetic, Jade, and
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Indigo. It may work with Hydro and Groovy, but that has not been
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tested recently. To build for Fuerte from source, check out the
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``rosbuild`` branch instead of ``master``.
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.. _ROS: http://www.ros.org
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.. _Velodyne: http://www.ros.org/wiki/velodyne
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.. _`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx

‎modules/drivers/velodyne_vls/velodyne/CHANGELOG.rst

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Change history
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==============
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1.3.0 (2017-11-10)
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------------------
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* Merge pull request `#110 <https://github.com/ros-drivers/velodyne/issues/110>`_ from kmhallen/master
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Added velodyne_laserscan package
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* Added velodyne_laserscan package and inserted into existing launch files
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* Contributors: Jack O'Quin, Joshua Whitley, Kevin Hallenbeck
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1.2.0 (2014-08-06)
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------------------
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1.1.2 (2013-11-05)
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-------------------
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1.1.1 (2013-07-30)
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------------------
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1.1.0 (2013-07-16)
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------------------
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1.0.1 (2013-06-15)
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------------------
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1.0.0 (2013-06-14)
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------------------
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* Convert to catkin (`#1`_).
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* Release to Hydro.
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0.9.2 (2013-07-08)
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------------------
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0.9.1 (2012-06-05)
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------------------
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0.9.0 (2012-04-03)
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------------------
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* Completely revised API, anticipating a 1.0.0 release.
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* New velodyne_driver and velodyne_pointcloud packages.
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* Old velodyne_common and velodyne_pcl packages no longer included.
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* Released to Electric, Fuerte and Groovy.
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0.2.6 (2011-02-23)
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------------------
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0.2.5 (2010-11-19)
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------------------
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* Initial implementation of new 0.3 interfaces.
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0.2.0 (2010-08-17)
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------------------
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* Initial release to ROS C-turtle.
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.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
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.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
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.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
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.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
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.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
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.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
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.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
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.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
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.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
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.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
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.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
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.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
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.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20

‎modules/drivers/velodyne_vls/velodyne/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(velodyne)
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find_package(catkin REQUIRED)
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catkin_metapackage()

‎modules/drivers/velodyne_vls/velodyne/package.xml

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<package>
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<name>velodyne</name>
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<version>1.3.0</version>
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<description>
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Basic ROS support for the Velodyne VLS3D LIDARs.
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</description>
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<maintainer email="[email protected]">Nitinkumar Barot</maintainer>
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<author> Jack O'Quin</author>
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<license>BSD</license>
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<!--
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<review status="API reviewed" notes="2012-02-02"/>
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-->
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<buildtool_depend>catkin</buildtool_depend>
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<run_depend>velodyne_driver</run_depend>
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<run_depend>velodyne_laserscan</run_depend>
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<run_depend>velodyne_msgs</run_depend>
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<run_depend>velodyne_pointcloud</run_depend>
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<export>
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<metapackage/>
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</export>
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</package>

‎modules/drivers/velodyne_vls/velodyne_driver/CHANGELOG.rst

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Change history
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==============
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1.3.0 (2017-11-10)
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------------------
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* Merge pull request `#129 <https://github.com/ros-drivers/velodyne/issues/129>`_ from kmhallen/pluginlib_macro
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Modern pluginlib macro
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* Update to use non deprecated pluginlib macro
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* add launch args to support multiple devices (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
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* Merge pull request `#101 <https://github.com/ros-drivers/velodyne/issues/101>`_ from teosnare/master
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velodyne_driver/src/lib/input.cc : fix for device_ip filter
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* Merge pull request `#104 <https://github.com/ros-drivers/velodyne/issues/104>`_ from altrouge/launch_options
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Add more options in launch files.
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* Rearranged alphabetically.
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* Add more options in launch files.
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- rpm, device_ip, port, read_once, read_fast, repeat_delay
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* velodyne_driver/src/lib/input.cc : fix for device_ip filter
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Fix for device_ip filter in InputSocket: initialization of devip\_ for correct ip filtering in InputSocket::getPacket.
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* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 <https://github.com/ros-drivers/velodyne/issues/96>`_)
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* Merge pull request `#96 <https://github.com/ros-drivers/velodyne/issues/96>`_ from priyankadey/master
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updated VLP-16 packet rate from user manual.
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* updated VLP-16 packet rate from user manual.
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Also verified with sensor. It reduced overlap in the pointcloud
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* update change history
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* Merge pull request `#94 <https://github.com/ros-drivers/velodyne/issues/94>`_ from ros-drivers/pcap_port
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velodyne_driver: use port number for PCAP data (`#46 <https://github.com/ros-drivers/velodyne/issues/46>`_, `#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
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* fix g++ 5.3.1 compile errors (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
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* merge current master (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
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* Merge pull request `#91 <https://github.com/ros-drivers/velodyne/issues/91>`_ from chukcha2/master
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update velodyne_driver package description to include all models
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* update velodyne_driver package description to include all models
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* Merge pull request `#89 <https://github.com/ros-drivers/velodyne/issues/89>`_ from Tones29/feat_dynrec_driver
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Add dynamic latency configuration to velodyne_driver
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* velodyne_driver: Add dynamic_reconfigure and time_offset correction
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The value of time_offset is added to the calculated time stamp in live mode for each packet.
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* velodyne_driver: Make input destructors virtual
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* prepare change history for coming Indigo release (`#59 <https://github.com/ros-drivers/velodyne/issues/59>`_)
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* velodyne_driver: use port number for PCAP data (`#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
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* Merge pull request `#39 <https://github.com/ros-drivers/velodyne/issues/39>`_ from zooxco/multivelodyne
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support for multiple velodynes
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* Merge pull request `#44 <https://github.com/ros-drivers/velodyne/issues/44>`_ from SISegwayRmp/master
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adding driver and pointcloud support for the VLP16
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* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
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* adding support for the VLP16
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* parameters to set the udp port
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* fixed missing header
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* cleanup debug line
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* parameter and code added for working with multiple velodynes
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* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey
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1.2.0 (2014-08-06)
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------------------
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* Fixed bug in diagnostic rate for driver (`#16
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<https://github.com/ros-drivers/velodyne/issues/16>`_)
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* Contributors: Brice Rebsamen, Jack O'Quin
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1.1.2 (2013-11-05)
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-------------------
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* Move unit test data to download.ros.org (`#18`_).
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* Install missing vdump script (`#17`_).
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1.1.1 (2013-07-30)
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------------------
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* Add support for HDL-64E S2 and S2.1 models, which were not working before (`#11`_), thanks to Gabor Meszaros (`#12`_).
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* Add additional parameters to launch files (`#14`_).
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1.1.0 (2013-07-16)
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------------------
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* Fix build problems due to PCL 1.7 API incompatibilities (`#8`_),
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thanks to William Woodall. This version also works with Groovy, as
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long as the correct ``pcl_conversions`` is installed.
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* Fix errors with Mac OSX compiler (`#8`_).
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* Install ``pluginlib`` XML files (`#9`_).
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* Install some launch and parameter files.
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* Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_).
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1.0.1 (2013-06-15)
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------------------
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* Declare explicit ``pluginlib`` dependency (`#4`_).
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1.0.0 (2013-06-14)
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------------------
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* Convert to catkin (`#1`_).
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* Release to Hydro.
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0.9.2 (2013-07-08)
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------------------
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* Fix Groovy build problem (`#7`_).
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0.9.1 (2012-06-05)
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------------------
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* Driver socket read path improvements.
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* Add unit tests with 32E data.
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* Released to Electric, Fuerte and Groovy.
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0.9.0 (2012-04-03)
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------------------
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* Completely revised API, anticipating a 1.0.0 release.
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* HDL-32E device support.
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* New velodyne_driver and velodyne_pointcloud packages.
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* Old velodyne_common and velodyne_pcl packages no longer included.
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* Released to Electric, Fuerte and Groovy.
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0.2.6 (2011-02-23)
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------------------
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* Label all timing-dependent tests "realtime" so they do not run by
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default on the build farm machines.
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0.2.5 (2010-11-19)
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------------------
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* Initial implementation of new 0.3 interfaces.
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* Support for ROS 1.3 `std_msgs::Header` changes.
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0.2.0 (2010-08-17)
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------------------
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* Initial release to ROS C-turtle.
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.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
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.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
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.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
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.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
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.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
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.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
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.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
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.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
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.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
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.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
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.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
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.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
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.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20

‎modules/drivers/velodyne_vls/velodyne_driver/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(velodyne_driver)
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set(${PROJECT_NAME}_CATKIN_DEPS
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diagnostic_updater
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dynamic_reconfigure
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nodelet
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roscpp
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tf
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velodyne_msgs)
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find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS})
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# This driver uses Boost threads
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find_package(Boost REQUIRED COMPONENTS thread)
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# libpcap provides no pkg-config or find_package module:
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set(libpcap_LIBRARIES -lpcap)
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include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
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# Generate dynamic_reconfigure server
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generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg)
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# objects needed by other ROS packages that depend on this one
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catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
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INCLUDE_DIRS include
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LIBRARIES velodyne_input)
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# compile the driver and input library
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add_subdirectory(src/lib)
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add_subdirectory(src/driver)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(FILES nodelet_velodyne.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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install(PROGRAMS src/vdump
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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if (CATKIN_ENABLE_TESTING)
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# these dependencies are only needed for unit testing
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find_package(roslaunch REQUIRED)
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find_package(rostest REQUIRED)
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# Download packet capture (PCAP) files containing test data.
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# Store them in devel-space, so rostest can easily find them.
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catkin_download_test_data(
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${PROJECT_NAME}_tests_class.pcap
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http://download.ros.org/data/velodyne/class.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 65808d25772101358a3719b451b3d015)
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catkin_download_test_data(
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${PROJECT_NAME}_tests_32e.pcap
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http://download.ros.org/data/velodyne/32e.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 e41d02aac34f0967c03a5597e1d554a9)
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catkin_download_test_data(
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${PROJECT_NAME}_tests_vlp16.pcap
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http://download.ros.org/data/velodyne/vlp16.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 f45c2bb1d7ee358274e423ea3b66fd73)
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# unit tests
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add_rostest(tests/pcap_node_hertz.test)
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add_rostest(tests/pcap_nodelet_hertz.test)
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add_rostest(tests/pcap_32e_node_hertz.test)
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add_rostest(tests/pcap_32e_nodelet_hertz.test)
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add_rostest(tests/pcap_vlp16_node_hertz.test)
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add_rostest(tests/pcap_vlp16_nodelet_hertz.test)
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# parse check all the launch/*.launch files
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roslaunch_add_file_check(launch)
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endif (CATKIN_ENABLE_TESTING)

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