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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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How to lower the min_range further #467

Closed Jae-Seung-Jeon closed 2 years ago

Jae-Seung-Jeon commented 2 years ago

Hi, I want to get points within 0.5m around Velodyne Puck.

So I changed all the values of min_range in [velodyne/velodyne_pointcloud/cfg/TransformNode.cfg] - gen.add(... 0.9, 0.1, 10.0) -> gen.add(... 0.0, 0.1, 10.0), and [velodyne/velodyne_pointcloud/launch/VLP16_points.launch] - min_range - default="0.4" -> default="0.0" [velodyne/velodyne_pointcloud/launch/transform_nodelet.launch] - min_range - default="0.9" -> default="0.0"

However, there are still no points less than 0.5m in Rviz. Where should I modify? Thank you.

JWhitleyWork commented 2 years ago

This is a hardware limitation, not a software one. No spinning Velodyne lidar will return points less than 0.5m away from the sensor.