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We require the Velodyne driver to be able to interface with a ROS-based system.
These nodes are specializations of the UdpDriver, composed with the Vlp16Translator.
Specifically, these specializations are for the sensor_msgs::msg::PointCloud2 message type which is intended for widespread use and visualization, but not in high performance or safety-critical settings.
The purpose of these nodes are to convert Udp packets from a VLP16 HiRes sensor into ROS 2 messages.
Assumes input on some UDP port from a Velodyne sensor.
For the VelodyneCloudNode, it is assumed that the PointCloud2 message is at least larger than velodyne_driver::Vlp16Translator::POINT_BLOCK_CAPACITY, which is 512.
Input:
Output:
These nodes inherit all security flaws and capabilities inherent in the UDP driver, Node, and Vlp16Translator.
This node should eventually have health topic publishers and command subscribers for fusion coordination.