Updated parameters for a correct vlp16 configuration #12
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alex-arnal
requested changes
Jan 5, 2021
| <xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max gpu:=^|true"> | ||
| <xacro:property name="M_PI" value="3.1415926535897931" /> | ||
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| <xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true"> |
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I would also add range_min and range_max. I have tested changes and it works correctly, I should set the range_min to 0.06 as minimum (less distance causes it to detect itself). From datasheet, range_max should be 100.0.
Suggested change
| <xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true"> | |
| <xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min:=0.06 range_max:=100.0 fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true"> |
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According to the datasheet, range_min should be set to 0.2m. However, after testing a few different units of the real sensor, this value tends to be around 0.38.
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Identify the Bug/Problem/Issue
The values were not parameterized as well as the horizontal field of vision and the vertical field of vision were set incorrectly.
Description of the Change
Velodyne 16 datasheet values have been parameterized and indicated by default.