数据预处理（8）_ubuntu16.0.4系统下运行velodyneHDL 32E激光雷达流程

1.安装驱动

sudo apt-get install ros-kinetic-velodyne

结果：

lzy@lzy-Lenovo-ideapad-Y700-17ISK:~$ sudo apt-get install ros-kinetic-velodyne
[sudo] password for lzy:
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages were automatically installed and are no longer required:
  fltk1.3-doc fluid gazebo7 gazebo7-common gazebo7-plugin-base hddtemp
  libassimp-dev libassimp3v5 libbulletcollision2.83.6 libbulletdynamics2.83.6
  libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libfltk-cairo1.3
  libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3 libfltk1.3-dev
  libfreeimage-dev libfreeimage3 libgazebo7 libgazebo7-dev libgts-0.7-5
  libgts-bin libgts-dev libignition-math2 libignition-math2-dev libinput-dev
  libjs-jquery-ui libjxr0 liblinearmath2.83.6 libogre-1.9-dev libogre-1.9.0v5
  libprotoc-dev libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqgsttools-p1
  libqt5multimediaquick-p5 libqt5multimediawidgets5 libqt5scripttools5
  libqt5svg5-dev libqt5x11extras5 libqt5x11extras5-dev libqt5xmlpatterns5-dev
  libqt5xmlpatterns5-private-dev libruby2.3 libsdformat4 libsdformat4-dev
  libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libsimbody-dev
  libsimbody3.5v5 libspnav0 libtar-dev libtar0 liburdfdom-dev
  liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4
  liburdfdom-sensor0.4 liburdfdom-tools liburdfdom-world0.4 libzzip-0-13
  pyqt5-dev python-cycler python-imaging python-matplotlib
  python-matplotlib-data python-opengl python-psutil python-pydot python-pyqt5
  python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
  python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore
  python-pyside2.qtgui python-pyside2.qthelp python-pyside2.qtnetwork
  python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
  python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql
  python-pyside2.qtsvg python-pyside2.qttest python-pyside2.qtuitools
  python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
  python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml
  python-sip python-sip-dev qtbase5-private-dev qtdeclarative5-private-dev
  qtmultimedia5-dev qtscript5-dev qtscript5-private-dev rake
  ros-kinetic-actionlib-tutorials ros-kinetic-bond-core ros-kinetic-bondpy
  ros-kinetic-camera-calibration-parsers ros-kinetic-camera-info-manager
  ros-kinetic-cmake-modules ros-kinetic-collada-parser
  ros-kinetic-collada-urdf ros-kinetic-common-msgs
  ros-kinetic-common-tutorials ros-kinetic-control-msgs
  ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis
  ros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostics
  ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
  ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev
  ros-kinetic-gazebo-msgs ros-kinetic-gazebo-ros ros-kinetic-geometric-shapes
  ros-kinetic-geometry ros-kinetic-geometry-tutorials
  ros-kinetic-gl-dependency ros-kinetic-image-common
  ros-kinetic-image-transport ros-kinetic-interactive-marker-tutorials
  ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher
  ros-kinetic-kdl-conversions ros-kinetic-kdl-parser
  ros-kinetic-laser-assembler ros-kinetic-laser-filters
  ros-kinetic-laser-geometry ros-kinetic-laser-pipeline
  ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-export
  ros-kinetic-mk ros-kinetic-nav-msgs ros-kinetic-nodelet-core
  ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-orocos-kdl
  ros-kinetic-pluginlib-tutorials ros-kinetic-polled-camera
  ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding
  ros-kinetic-qt-dotgraph ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp
  ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency
  ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot
  ros-kinetic-robot-model ros-kinetic-robot-state-publisher ros-kinetic-ros
  ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core
  ros-kinetic-ros-tutorials ros-kinetic-rosbag-migration-rule
  ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosconsole-bridge
  ros-kinetic-roscpp-core ros-kinetic-roscpp-tutorials ros-kinetic-roscreate
  ros-kinetic-roslang ros-kinetic-roslint ros-kinetic-roslisp
  ros-kinetic-rosmake ros-kinetic-rospy-tutorials ros-kinetic-rqt-action
  ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins ros-kinetic-rqt-console
  ros-kinetic-rqt-dep ros-kinetic-rqt-graph ros-kinetic-rqt-gui
  ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-launch
  ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg
  ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view
  ros-kinetic-rqt-publisher ros-kinetic-rqt-py-common
  ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
  ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor
  ros-kinetic-rqt-robot-plugins ros-kinetic-rqt-robot-steering
  ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
  ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv
  ros-kinetic-rqt-tf-tree ros-kinetic-rqt-top ros-kinetic-rqt-topic
  ros-kinetic-rqt-web ros-kinetic-rviz ros-kinetic-rviz-plugin-tutorials
  ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
  ros-kinetic-shape-msgs ros-kinetic-smach ros-kinetic-smach-msgs
  ros-kinetic-smach-ros ros-kinetic-stage ros-kinetic-stage-ros
  ros-kinetic-stereo-msgs ros-kinetic-tf-conversions
  ros-kinetic-tf2-geometry-msgs ros-kinetic-tf2-kdl
  ros-kinetic-trajectory-msgs ros-kinetic-turtle-actionlib
  ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim
  ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial
  ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs
  ros-kinetic-visualization-tutorials ros-kinetic-webkit-dependency
  ros-kinetic-xacro ruby ruby-did-you-mean ruby-minitest ruby-net-telnet
  ruby-power-assert ruby-test-unit ruby2.3 rubygems-integration sbcl
  sdformat-sdf shiboken2 sip-dev tango-icon-theme tcl-vtk ttf-dejavu-core
  ttf-liberation
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
  libpcap0.8-dev libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6
  ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-velodyne-driver
  ros-kinetic-velodyne-laserscan ros-kinetic-velodyne-msgs
  ros-kinetic-velodyne-pointcloud
Suggested packages:
  libpcl-doc vtk6-doc vtk6-examples mayavi2
The following packages will be REMOVED:
  libvtk5-dev python-vtk
The following NEW packages will be installed:
  libpcap0.8-dev libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6
  ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-velodyne
  ros-kinetic-velodyne-driver ros-kinetic-velodyne-laserscan
  ros-kinetic-velodyne-msgs ros-kinetic-velodyne-pointcloud
0 upgraded, 12 newly installed, 2 to remove and 91 not upgraded.
Need to get 4,350 kB/8,437 kB of archives.
After this operation, 18.7 MB of additional disk space will be used.
Do you want to continue? [Y/n]
Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/main amd64 libpcap0.8-dev amd64 1.7.4-2 [212 kB]
Get:2 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libpcl-dev amd64 1.7.2-14build1 [975 kB]
Get:3 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 python-vtk6 amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [257 kB]
Get:4 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 libvtk6-dev amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [2,189 kB]
Get:5 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 libvtk6-qt-dev amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [42.0 kB]
Get:6 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-msgs amd64 1.5.0-0xenial-20181019-150738-0800 [16.9 kB]
Get:7 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-driver amd64 1.5.0-0xenial-20181107-043054-0800 [188 kB]
Get:8 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-laserscan amd64 1.5.0-0xenial-20181107-011842-0800 [81.2 kB]
Get:9 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-pointcloud amd64 1.5.0-0xenial-20181107-044034-0800 [386 kB]
Get:10 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne amd64 1.5.0-0xenial-20181107-045824-0800 [2,220 B]
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2.连接到激光雷达

address 192.168.1.77
netmask 255.255.255.0
gateway 192.168.1.1

然后在网址上输入192.168.1.201可以看到激光雷达的配置文件，成功后页面是这样的

3、新建一个ROS工程

mkdir -p catkin_velodyne/src
catkin_velodyne/src
git clone https://github.com/ros-drivers/velodyne.git
cd …
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin_make
source devel/setup.bash

4.把Velodyne XML文件转成ROS节点的YAML文件
HDL-32.xml文件是激光雷达附赠U盘中提供的，转换后生成HDL-32.yaml

rosrun velodyne_pointcloud gen_calibration.py +/VLP-16.xml

"+"不要输进去，那里换成你自己VLP文件所在的路径名

5.加载

roslaunch velodyne_pointcloud HDL32E_points.launch calibration:=+/HDL-32.yaml

此处“+”号也换成路径名

6.实时显示点云图

rosbag record -O out /velodyne_points

接着在rviz中点Add，增加PointCloud2，再在PointCloud2下点topic输入/velodyne_points。这样就可以实时显示获取的3D点云图