ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Fumihito Ito
- Junya Sasaki
Authors
autoware_velodyne_monitor
Purpose
This node monitors the status of Velodyne LiDARs. The result of the status is published as diagnostics. Take care not to use this diagnostics to decide the lidar error. Please read Assumptions / Known limits for the detail reason.
Inner-workings / Algorithms
The status of Velodyne LiDAR can be retrieved from http://[ip_address]/cgi/{info, settings, status, diag}.json.
The types of abnormal status and corresponding diagnostics status are following.
| Abnormal status | Diagnostic status |
|---|---|
| No abnormality | OK |
| Top board temperature is too cold | ERROR |
| Top board temperature is cold | WARN |
| Top board temperature is too hot | ERROR |
| Top board temperature is hot | WARN |
| Bottom board temperature is too cold | ERROR |
| Bottom board temperature is cold | WARN |
| Bottom board temperature is too hot | ERROR |
| Bottom board temperature is hot | WARN |
| Rpm(Rotations per minute) of the motor is too low | ERROR |
| Rpm(Rotations per minute) of the motor is low | WARN |
| Connection error (cannot get Velodyne LiDAR status) | ERROR |
Inputs / Outputs
Input
None
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
timeout |
double | 0.5 | Timeout for HTTP request to get Velodyne LiDAR status [s] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
ip_address |
string | “192.168.1.201” | IP address of target Velodyne LiDAR |
temp_cold_warn |
double | -5.0 | If the temperature of Velodyne LiDAR is lower than this value, the diagnostics status becomes WARN [°C] |
temp_cold_error |
double | -10.0 | If the temperature of Velodyne LiDAR is lower than this value, the diagnostics status becomes ERROR [°C] |
temp_hot_warn |
double | 75.0 | If the temperature of Velodyne LiDAR is higher than this value, the diagnostics status becomes WARN [°C] |
temp_hot_error |
double | 80.0 | If the temperature of Velodyne LiDAR is higher than this value, the diagnostics status becomes ERROR [°C] |
rpm_ratio_warn |
double | 0.80 | If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes WARN |
rpm_ratio_error |
double | 0.70 | If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes ERROR |
Config files
Config files for several velodyne models are prepared.
The temp_*** parameters are set with reference to the operational temperature from each datasheet.
Moreover, the temp_hot_*** of each model are set highly as 20 from operational temperature.
Now, VLP-16.param.yaml is used as default argument because it is lowest spec.
| Model Name | Config name | Operational Temperature [℃] |
|---|---|---|
| VLP-16 | VLP-16.param.yaml | -10 to 60 |
| VLP-32C | VLP-32C.param.yaml | -20 to 60 |
| VLS-128 | VLS-128.param.yaml | -20 to 60 |
| Velarray M1600 | Velarray_M1600.param.yaml | -40 to 85 |
| HDL-32E | HDL-32E.param.yaml | -10 to 60 |
Assumptions / Known limits
This node uses the http_client and request results by GET method. It takes a few seconds to get results, or generate a timeout exception if it does not succeed the GET request. This occurs frequently and the diagnostics aggregator output STALE. Therefore I recommend to stop using this results to decide the lidar error, and only monitor it to confirm lidar status.
Changelog for package autoware_velodyne_monitor
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: apply [autoware_]{.title-ref} prefix for [velodyne_monitor]{.title-ref} (#9976)
- Contributors: Fumiya Watanabe, Junya Sasaki
0.40.0 (2024-12-12)
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- feat(velodyne_monitor): componentize node (#7201)
- Contributors: Takagi, Isamu, Yutaka Kondo
0.26.0 (2024-04-03)
- refactor(system-velodyne-monitor): rework parameters (#5667) system-velodyne-monitor
- docs(velodyne_monitor): rename readme to README (#4224)
- build: mark autoware_cmake as <buildtool_depend>
(#3616)
* build: mark autoware_cmake as <buildtool_depend> with
<build_depend>, autoware_cmake is automatically exported with
ament_target_dependencies() (unecessary)
- style(pre-commit): autofix
* chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>
- fix(velodyne_monitor): add fmt package to dependencies (#3069) Co-authored-by: ito-san <<57388357+ito-san@users.noreply.github.com>>
- docs(velodyne_monitor): add known limits
(#1802)
- docs(velodyne_monitor): add known limits
- Update Readme.md
- fix(velodyne_monitor): add temp_hot_* to 20 (`#1744 <https://github.com/autowarefoundation/autoware_universe/issues/1744>`_) fix(velodyne_monitor): add 20 to temp_hot_*
- fix(velodyne monitor): fix warning and error threshold of hot
temperature
(#1623)
- fix(velodyne_monitor): fix warning and error threshold of hot temperature
- doc: update README
- doc: fix typo
- doc: update README
- feat: add config file for each model
- Update Readme.md
- Update Readme.md
- fix: typo
- chore: upgrade cmake_minimum_required to 3.14 (#856)
- refactor: use autoware cmake
(#849)
- remove autoware_auto_cmake
- add build_depend of autoware_cmake
- use autoware_cmake in CMakeLists.txt
- fix bugs
- fix cmake lint errors
- style: fix format of package.xml (#844)
- ci(pre-commit): update pre-commit-hooks-ros
(#625)
- ci(pre-commit): update pre-commit-hooks-ros
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat: add velodyne_monitor package
(#17)
- Ros2 v0.8.0 velodyne monitor (#285)
- Rename ROS-related .yaml to .param.yaml (#352)
- Rename ROS-related .yaml to .param.yaml
- Remove prefix 'default_' of yaml files
- Rename vehicle_info.yaml to vehicle_info.param.yaml
- Rename diagnostic_aggregator's param files
- Fix overlooked parameters
- add use_sim-time option (#454)
- Unify Apache-2.0 license name (#1242)
- Remove use_sim_time for set_parameter (#1260)
- Add exception handling for extract_json() (#1779)
- Add exception handling for extract_json()
* Add diagnostics error when catching exception Co-authored-by: Takayuki AKAMINE <<takayuki.akamine@tier4.jp>>
- Fix -Wunused-parameter (#1836)
- Fix -Wunused-parameter
- Fix mistake
- fix spell
- Fix lint issues
* Ignore flake8 warnings Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>>
- Fix compiler warnings (#1837)
- Fix -Wunused-private-field
- Fix -Wunused-variable
- Fix -Wformat-security
- Fix -Winvalid-constexpr
- Fix -Wdelete-non-abstract-non-virtual-dtor
- Fix -Wdelete-abstract-non-virtual-dtor
- Fix -Winconsistent-missing-override
- Fix -Wrange-loop-construct
- Fix "invalid application of 'sizeof' to an incomplete type"
- Ignore -Wgnu-anonymous-struct and -Wnested-anon-types
- Fix lint
- Ignore -Wno-deprecated-declarations in CUDA-related packages
- Fix mistake
- Fix -Wunused-parameter
* Remove duplicated update (#2072) (#2084) Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> * Fix velodyne monitor config file variable name (#2090) (#2092) Co-authored-by: j4tfwm6z <<proj-jpntaxi@tier4.jp>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: j4tfwm6z <<proj-jpntaxi@tier4.jp>>
- Change formatter to clang-format and black (#2332)
* Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.
- Replace ament_lint_common with autoware_lint_common
- Remove ament_cmake_uncrustify and ament_clang_format
- Apply Black
- Apply clang-format
- Fix build errors
- Fix for cpplint
- Fix include double quotes to angle brackets
- Apply clang-format
- Fix build errors
- Add COLCON_IGNORE (#500)
- remove COLCON_IGNORE in system_packages and map_tf_generator (#532)
- [Velodyne monitor]add readme (#570)
- add readme
- change the description
* Update system/velodyne_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/velodyne_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/velodyne_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>>
- velodyne -> velodyne lidar
* Update system/velodyne_monitor/Readme.md Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> * Update system/velodyne_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Takayuki AKAMINE <<takayuki.akamine@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]\@users.noreply.github.com> Co-authored-by: j4tfwm6z <<proj-jpntaxi@tier4.jp>> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>>
- Contributors: David Wong, Hiroki OTA, Kenji Miyake, Takamasa Horibe, Tomoya Kimura, Vincent Richard, karishma1911
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_auto | |
| autoware_lint_common | |
| diagnostic_msgs | |
| diagnostic_updater | |
| rclcpp | |
| rclcpp_components | |
| std_msgs |
System Dependencies
| Name |
|---|
| crypto++ |
| fmt |
| libcpprest-dev |
Dependant Packages
Launch files
- launch/velodyne_monitor.launch.xml
-
- velodyne_monitor_param_file [default: $(find-pkg-share autoware_velodyne_monitor)/config/VLP-16.param.yaml]
- ip_address [default: 192.168.1.201]