Velodyne ROS 2 pointcloud to laserscan converter

This is a ROS 2 package that takes pointcloud data as output by one of the velodyne_pointcloud nodes and converts it to a single laserscan.

Published Topics

• scan (sensor_msgs/LaserScan) - The laserscan that results from taking one line of the pointcloud.

Subscribed Topics

• velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Parameters

• ring (int) - The “ring” of the Velodyne to use for the single line. If less than 0, a default ring per device will be used. Defaults to -1.
• resolution (double) - The resolution in meters that each point provides. Defaults to 0.007.

Changelog for package velodyne_laserscan

2.5.1 (2024-10-31)

2.5.0 (2024-10-30)

• Clalancette/cmake cleanups (#546)
• Update rolling ci (#512) (#513)
• Contributors: Chris Lalancette, Joshua Whitley

2.4.0 (2023-05-27)

• using std::round to calculate the scan array size (#459)
• Contributors: Gianluca Bardaro

2.3.0 (2022-07-08)

• Updating maintainer email address. (#450)
  • Updating maintainer email address.

  * chore: update maintainer email address Co-authored-by: Joshua Whitley <<jwhitley@autonomoustuff.com>>

• Fix small warnings from build and test.
• Add laserscan support for new PointXYZIR structure (#316) (#439)
  • Add laserscan support for new PointXYZIR structure

  * Support PointCloud2 offsets that are multiples of 4 Co-authored-by: Kevin Hallenbeck <<khallenbeck@dataspeedinc.com>>

• Replace deprecated argument names in launch (#430)
• 2.1.1
• Updating for first Galactic release
• Contributors: Chris Lalancette, Daisuke Nishimatsu, Joshua Whitley, Keane Quigley

2.1.1 (2021-08-23)

2.1.0 (2020-07-10)

• Fixing Foxy-specific uncrustify errors.
• Contributors: Joshua Whitley

2.0.0 (2020-07-10)

• Fix dependencies in package.xml (#331) Ensure that we depend on ament_cmake_ros as appropriate.
• Fix ring retrieval from float pointcloud iterator. (#322)
  • Fix ring retrieval from float pointcloud iterator.
• Fixes pointed out by clang-tidy (#310)
  • Rearrange header includes so clang-tidy is happy.
  • Get rid of unnecessary void arguments on methods.
  • Properly mark methods as override where appropriate.
  • Initialize members and stack variables to zero before use.
  • Mark function implementations in header files 'inline'.
  • Use more efficient 'empty' method instead of empty string.
  • Get rid of unnecessary else statements after a continue/return.
  • Get rid of unnecessary == false use.
  • Make sure to add a virtual destructor to DataContainerBase.
  • Use string != comparison instead of 'compare' method.
  • Rename PointcloudXYZIR parameter name to match implementation.
  • Get rid of usage of typedef.
  • Be more explicit about using floats.
  • Do an explicit lround to do int->float conversion.
  • Fix the intensity calculation.
  • Remove the azimuth from addPoint.
  • Make sure to reset the cloud data to 0 before reusing.
  • Use underscores on pointcloud member variables.
  • Using std::lround means we don't need to add 0.5 to the result.
  • Slightly rearrange and simplify range checks.
  • Add in example launch files for VLP32C.
• Dashing fixes (#307)
  • Use std::make_unique as appropriate.
  • Fix the azimuth calculation.
  • Fix a crash during driver startup.
  • Always recalculate the row_step while setting up the cloud.
  • Make sure to call computeTransformation.
  • Fix style errors pointed out by flake8.
• ROS2: Add Linters to velodyne_laserscan (#303)
  • Adding tests and updating file naming.
  • Fixing copyright and xml issues.
  • Fixing linter stuff on velodyne_laserscan.
  • Fixing typo in conversion.
• Switch the style on scope-constants to google style.
• Add in example launch files.
• Disable copy, move, and assign operators.
• Build the components so the velodyne can be run as a component.
• Add in NodeOptions to node constructors.
• Make sure to install the header files for laserscan and pointcloud.
• Switch to RCLCPP_WARN_ONCE.
• Make sure to only print the "slower generic method" message once.
• Add explicit, final, and override to classes where appropriate.
• Merge pull request #251 from clalancette/dashing-devel3 ROS 2 Dashing port
• Merge pull request #234 from kmhallen/c++11 Set minimum C++ standard to C++11
• Merge pull request #231 from ros-drivers/ci/test_better_output CI: Adding roslint as separate step. Limiting output of catkin build.
• Merge pull request #227 from ros-drivers/roslint Applying roslint to velodyne_pointcloud.
• Merge pull request #226 from ros-drivers/roslint Adding roslint to velodyne_laserscan
• Contributors: Chris Lalancette, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Michel Hidalgo, Sebastian, Sebastian Pütz

1.5.2 (2019-01-28)

1.5.1 (2018-12-10)

1.5.0 (2018-10-19)

1.4.0 (2018-09-19)

• Merge pull request #170 from ros-drivers/maint/move_header_files
• Moving header files to traditional location inside include folders.
• Merge pull request #160 from ros-drivers/maint/updating_package_xml_to_v2
• Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. All package.xml files are now compatible with version 2 of the package.xml specification in REP 140. Removed some unnecessary execute permissions on a few files. Fixed a missing test_depend.
• Merge pull request #146 from stsundermann/patch-2 Use std::abs instead of fabsf
• Merge pull request #150 from ros-drivers/mikaelarguedas-patch-1
• update to use non deprecated pluginlib macro
• Use std::abs instead of fabsf cfg_.resolution is double but fabsf takes a float which may cause truncation of value.
• Contributors: Andre Volk, CNR, Joshua Whitley, Mikael Arguedas, Stephan Sundermann

1.3.0 (2017-11-10)

• Merge pull request #110 from kmhallen/master Added velodyne_laserscan package
• Added tests for velodyne_laserscan
• Fixed validating PointCloud2 field types
• Package.xml format version 2
• Merge pull request #1 from volkandre/master Fixed bug. Laserscans now cover full 360 degrees.
• Fixed bug. Laserscans now cover full 360 degrees.
• Added velodyne_laserscan package and inserted into existing launch files
• Contributors: Joshua Whitley, Kevin Hallenbeck, kmhallen, volkandre