同时启动两个velodyne激光雷达的教程。

迷南。 2023-02-14 10:54 33阅读 0赞

参考链接：  
[https://github.com/JeongJae0815/Multi\_Velodyne/blob/master/velodyne/velodyne\_pointcloud/launch/VLP16\_points\_multi.launch][https_github.com_JeongJae0815_Multi_Velodyne_blob_master_velodyne_velodyne_pointcloud_launch_VLP16_points_multi.launch]

[https://sunjiadai.xyz/blog/2019/05/14/ubuntu][https_sunjiadai.xyz_blog_2019_05_14_ubuntu]

<launch>
    
    
    <group ns="ns1">
      
      <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
      <arg name="device_ip" default="192.168.1.201" />
      <arg name="frame_id" default="velodyne_first" />
      <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
      <arg name="max_range" default="130.0" />
      <arg name="min_range" default="0.4" />
      <arg name="pcap" default="" />
      <arg name="port" default="2368" />
      <arg name="read_fast" default="false" />
      <arg name="read_once" default="false" />
      <arg name="repeat_delay" default="0.0" />
      <arg name="rpm" default="600.0" />
    
      
      <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
        <arg name="device_ip" value="$(arg device_ip)"/>
        <arg name="frame_id" value="$(arg frame_id)"/>
        <arg name="manager" value="$(arg manager)" />
        <arg name="model" value="VLP16"/>
        <arg name="pcap" value="$(arg pcap)"/>
        <arg name="port" value="$(arg port)"/>
        <arg name="read_fast" value="$(arg read_fast)"/>
        <arg name="read_once" value="$(arg read_once)"/>
        <arg name="repeat_delay" value="$(arg repeat_delay)"/>
        <arg name="rpm" value="$(arg rpm)"/>
      </include>
    
      
      <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
        <arg name="calibration" value="$(arg calibration)"/>
        <arg name="manager" value="$(arg manager)" />
        <arg name="max_range" value="$(arg max_range)"/>
        <arg name="min_range" value="$(arg min_range)"/>
      </include>
    </group>
    
    
    
    <group ns="ns2">
      
      <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
      <arg name="device_ip" default="192.168.1.202" />
      <arg name="frame_id" default="velodyne_second" />
      <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
      <arg name="max_range" default="130.0" />
      <arg name="min_range" default="0.4" />
      <arg name="pcap" default="" />
      <arg name="port" default="2368" />
      <arg name="read_fast" default="false" />
      <arg name="read_once" default="false" />
      <arg name="repeat_delay" default="0.0" />
      <arg name="rpm" default="600.0" />
    
      
      <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
        <arg name="device_ip" value="$(arg device_ip)"/>
        <arg name="frame_id" value="$(arg frame_id)"/>
        <arg name="manager" value="$(arg manager)" />
        <arg name="model" value="VLP16"/>
        <arg name="pcap" value="$(arg pcap)"/>
        <arg name="port" value="$(arg port)"/>
        <arg name="read_fast" value="$(arg read_fast)"/>
        <arg name="read_once" value="$(arg read_once)"/>
        <arg name="repeat_delay" value="$(arg repeat_delay)"/>
        <arg name="rpm" value="$(arg rpm)"/>
      </include>
    
      
      <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
        <arg name="calibration" value="$(arg calibration)"/>
        <arg name="manager" value="$(arg manager)" />
        <arg name="max_range" value="$(arg max_range)"/>
        <arg name="min_range" value="$(arg min_range)"/>
      </include>
    </group>
    
    
    </launch>

[https_github.com_JeongJae0815_Multi_Velodyne_blob_master_velodyne_velodyne_pointcloud_launch_VLP16_points_multi.launch]: https://github.com/JeongJae0815/Multi_Velodyne/blob/master/velodyne/velodyne_pointcloud/launch/VLP16_points_multi.launch
[https_sunjiadai.xyz_blog_2019_05_14_ubuntu]: https://sunjiadai.xyz/blog/2019/05/14/ubuntu%E4%B8%80%E5%8F%B0%E7%94%B5%E8%84%91%E5%90%8C%E6%97%B6%E8%BF%9E%E6%8E%A5%E4%B8%A4%E4%B8%AAvelodyne%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE/