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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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reuse Velodyne UDP port #427

Closed AmetistDrake closed 2 years ago

AmetistDrake commented 2 years ago

The Boston Dynamics Spot Core with the EAP (Enhanced Autonomy Package) version also binds to UDP port 2368 in its velodyne service, and without this update the ROS velodyne driver cannot bind to the port. It gives "Bind address already in use" warning and a "Cannot poll device" error. The reason is that, without setting the socket binding option to reuseable, it locks away the UDP port from every other concurrent connection.

JWhitleyWork commented 2 years ago

Close/open to kick CI.

JWhitleyWork commented 2 years ago

CI failures are due only to CI server limitations. Approved.

JWhitleyWork commented 2 years ago

@AmetistDrake Would you mind forward-porting this to the ros2 branch as well?