[ROS] 3D Lidar_Velodyne VLP16_points

1. IP setting

wired connected ->  wired settings -> New Profile -> IPv4 -> Manual -> Address, Netmask setting.

2. install velodyne package.

$ sudo apt-get install ros-melodic-velodyne
$ cd /home/catkin_ws/src
$ git clone https://github.com/ros-drivers/velodyne.git
$ caatkin_make

3. run.

$ roslaunch velodyne_pointcloud VLP16_points.launch
$ rosrun rviz rviz -f velodyne

4. rviz

add -> PointCloud2 ->topic -> /velodyne_points

5. rosbag

record datas.

+ pointdata.bag = file name for saving. 

$ rosbag record -O pointdata.bag/velodyne_points

 

rosbag play

$ rosbag play pointdata.bag