Velodyne Lidar Velarray ROS Linux Driver

Introduction to Velodyne Lidar

RidgeRun is actively working to enable customers with great software solutions on top of powerful hardware.

For this reason, RidgeRun is currently working to create a driver for Velodyne Velarray Lidar. This wiki contains a brief introduction to the Velodyne Lidar and its capabilities and explores how our drive library and ROS node design allow for robust integration of a wide arrange of features to fit our customers' needs. Please contact us if you require more information.

Velarray Device Capabilities

Perception up to 30 meters
32° vertical field of view
Configurable frame rate and resolution
Indoor/outdoor and day/night performance

Features of Velodyne Lidar Velarray Driver

The following features can be supported by RidgeRun's driver library. If your application requires any other feature, please contact us.

Data Packet Parsing

Extraction of the firing return packages.
CRC check for package integrity.
Reordering of out-of-order packages and reporting for any missing network packages.

Diagnostics Monitoring

Measurement parsing for all the Lidar data such as system state, image version, etc.
Fault monitoring for predefined Lidar faults and marking point cloud as not-dense.

Lidar Configuration

Configuration of network packages:
- Destination IP addresses
- MAC address
- Ports
Laser return mode
Framerate

ROS Node

The ROS node that consumes the data from the driver library and exposes the different information as ROS topics also features:

Point cloud publishing
Diagnostics data publishing
Health monitoring to check for the correct framerate.
Provides interface with one or multiple lidars.
Manages power requests for powering the lidars on and off.
Configurable topic names, rate, and queue size.
Conversion of firing returns into a single point cloud.
Conversion from polar representation to cartesian points.

For direct inquiries, please refer to the contact information available on our Contact page. Alternatively, you may complete and submit the form provided at the same link. We will respond to your request at our earliest opportunity.

Links to RidgeRun Resources and RidgeRun Artificial Intelligence Solutions can be found in the footer below.

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