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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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Accessing device diagnostic parameters directly through VelodynePackets #471

Closed BatuhanYilmaz closed 2 years ago

BatuhanYilmaz commented 2 years ago

Hi all,

I know that we can access to device diagnostic parameters by forming HTTP GET requests through Ethernet; such as temperature, input/output voltages, motor RPM, laser state and more.

I wonder if it is possible to access device diagnostics from data bytes of velodyne_msgs/VelodynePackets directly.

# Raw Velodyne LIDAR packet.

builtin_interfaces/Time stamp              # packet timestamp
uint8[1206] data        # packet contents

Thank you,

Batuhan

JWhitleyWork commented 2 years ago

I don't believe so. The packets being read by the driver and turned into VelodynePackets messages are only the scan data, not the diagnostic data. There is a diagnostic UDP port which is assigned in the sensor config but I don't believe that the current version of the driver reads from this port or provides the data.

BatuhanYilmaz commented 2 years ago

Thanks for the info.

Considering future driver releases, Is there any plan to add these diagnostics data into VelodynePackets as a new feature?

JWhitleyWork commented 2 years ago

This driver is community-maintained. It does not have regular releases or a roadmap. Feel free to contribute this feature.