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velodyne veloview and velodynecapture guide on windows and ubuntu 16.04

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Guide

install VeloView

download VeloView and install.

For “sensor streaming” (live display of sensor data) it is important to change the network settings of the Ethernet adapter connected to the sensor from automatic IP address to manual IP address selection and choose:

Notes from VeloView github

  • VLP-16 / HDL-32E
    IP address: 192.168.1.77 (77 as example, any number except 201 works)
    Gateway: 255.255.255.0

  • HDL-64E
    IP address: 192.168.3.77 (77 as example, any number except 43 works)
    Gateway: 192.168.3.255

In order for sensor streaming to work properly, it is important to disable firewall restrictions for the Ethernet port. Disable the firewall completely for the ethernet device connected to the sensor or explicitly allow data from that Ethernet port of (including both public and private networks).

config guide

Setting up your computer to communicate with the sensor

  • Connect the computer to the interface box with an Ethernet Cable.
  • Apply power to the sensor.
  • For now, disable the WiFI connection on your computer.
  • Configure your computer’s IP address on its Ethernet port to manual mode.
  • Set your computer’s IP address to 192.168.1.77 (“77” can be any number except 0, 255, or 201)
  • Set the subnet mask to 255.255.255.0
  • Pull up the sensor’s webserver interface by typing the sensor’s network address, 192.168.1.201, into the address bar in your web browser

steps

windows ip config

  1. set computer IP address on its Ethernet port to to manual mode with ip=192.168.1.77 (77 can be any number except 0,255,201),gateway=192.168.1.1,mask=255.255.255.0

  2. check by ifconfig

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    $ ifconfig
         
     以太网适配器 以太网:

        连接特定的 DNS 后缀 . . . . . . . :
        本地链接 IPv6 地址. . . . . . . . : fe80::9164:9f68:3c08:8493%17
        IPv4 地址 . . . . . . . . . . . . : 192.168.1.77
        子网掩码  . . . . . . . . . . . . : 255.255.255.0
        默认网关. . . . . . . . . . . . . : 192.168.1.1

     无线局域网适配器 WLAN:

        连接特定的 DNS 后缀 . . . . . . . :
        本地链接 IPv6 地址. . . . . . . . : fe80::b13c:895a:8b08:5ec2%6
        IPv4 地址 . . . . . . . . . . . . : 192.168.0.130
        子网掩码  . . . . . . . . . . . . : 255.255.255.0
        默认网关. . . . . . . . . . . . . : 192.168.0.1

ubuntu ip config

  1. set computer IP address on eth0 with ip=192.168.1.77 (77 can be any number except 0,255,201),gateway=192.168.1.1,mask=255.255.255.0

  2. edit network interfaces /etc/network/interfaces

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    auto lo
    iface lo inet loopback

    auto eth0
    iface eth0 inet static
    address 192.168.1.77 
    netmask 255.255.255.0
    gateway 192.168.1.1

  3. reboot

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    $ sudo reboot now

  4. check eth0

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    $ sudo ifconfig

    eth0      Link encap:Ethernet  HWaddr 80:fa:5b:47:92:8a  
              inet addr:192.168.1.77  Bcast:192.168.1.255  Mask:255.255.255.0
              UP BROADCAST MULTICAST  MTU:1500  Metric:1
              RX packets:0 errors:0 dropped:0 overruns:0 frame:0
              TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
              collisions:0 txqueuelen:1000 
              RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

    lo        Link encap:Local Loopback  
              inet addr:127.0.0.1  Mask:255.0.0.0
              inet6 addr: ::1/128 Scope:Host
              UP LOOPBACK RUNNING  MTU:65536  Metric:1
              RX packets:4640 errors:0 dropped:0 overruns:0 frame:0
              TX packets:4640 errors:0 dropped:0 overruns:0 carrier:0
              collisions:0 txqueuelen:1000 
              RX bytes:865530 (865.5 KB)  TX bytes:865530 (865.5 KB)

    wlan0     Link encap:Ethernet  HWaddr b0:35:9f:53:68:c6  
              inet addr:192.168.0.130  Bcast:192.168.0.255  Mask:255.255.255.0
              inet6 addr: fe80::a3d7:e190:6fb3:133/64 Scope:Link
              UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
              RX packets:6536 errors:0 dropped:0 overruns:0 frame:0
              TX packets:380 errors:0 dropped:0 overruns:0 carrier:0
              collisions:0 txqueuelen:1000 
              RX bytes:581427 (581.4 KB)  TX bytes:46439 (46.4 KB)

  5. Establish communication with the webserver GUI with Default IP: 192.168.1.201 on chrome.

    • for windows:
      vlp16 web user interface for windows

    • for ubuntu
      vlp16 web user interface for ubuntu

we use data port 2368 in program.

  1. View vlp16 by VeloView

VeloView for vlp16

VelodyneCapture Example

We can get VelodyneCapture class from VelodyneCapture.h

  • HDLGrabber: This Grabber for HDL-64E/HDL-32E.
  • VLPGrabber: This Grabber for VLP-16.

In this article using Velodyne grabber that has implemented in PCL.
It returns coordinated Point Cloud data. You don’t need to convert coordinates yourself.

Reference

History

  • 20180211: created.
  • 20180222: add ubuntu velodyne ip config.