velodyne veloview and velodynecapture guide on windows and ubuntu 16.04

cpp

Publish Date: 2018-02-11

Word Count: 811

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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

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

check by ifconfig

   $ 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

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

edit network interfaces /etc/network/interfaces

 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

reboot
```
 $ sudo reboot now
```

check eth0

 $ 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)

Establish communication with the webserver GUI with Default IP: 192.168.1.201 on chrome.
- for windows:
- for ubuntu
we use data port 2368 in program.

View vlp16 by VeloView

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.