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Updated parameters for a correct vlp16 configuration #12

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Updated parameters for a correct vlp16 configuration #12

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18 changes: 10 additions & 8 deletions urdf/velodyne_vlp16.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
<?xml version="1.0"?>
<robot name="sensor_velodyne_vlp16" xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max gpu:=^|true">
<xacro:property name="M_PI" value="3.1415926535897931" />

<xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true">
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@alex-arnal alex-arnal Jan 5, 2021 •
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I would also add range_min and range_max. I have tested changes and it works correctly, I should set the range_min to 0.06 as minimum (less distance causes it to detect itself). From datasheet, range_max should be 100.0.

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<xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min range_max fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true">
<xacro:macro name="sensor_velodyne_vlp16" params="prefix parent prefix_topic:='velodyne' *origin range_min:=0.06 range_max:=100.0 fps:=15 hsamples:=300 vsamples:=100 hfov:=360.0 vfov:=30.0 gpu:=^|true">

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According to the datasheet, range_min should be set to 0.2m. However, after testing a few different units of the real sensor, this value tends to be around 0.38.


<joint name="${prefix}_base_joint" type="fixed">
<xacro:insert_block name="origin" />
Expand Down Expand Up @@ -61,20 +63,20 @@
<sensor type="${ray_type}" name="${prefix}_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>15</update_rate>
<update_rate>${fps}</update_rate>
<ray>
<scan>
<horizontal>
<samples>300</samples>
<samples>${hsamples}</samples>
<resolution>1.0</resolution>
<min_angle>-1.83591184</min_angle>
<max_angle>1.83591184</max_angle>
<min_angle>-${hfov/2.0*M_PI/180.0}</min_angle>
<max_angle>${hfov/2.0*M_PI/180.0}</max_angle>
</horizontal>
<vertical>
<samples>100</samples>
<samples>${vsamples}</samples>
<resolution>1.0</resolution>
<min_angle>-0.610865238</min_angle>
<max_angle>1.83591184</max_angle>
<min_angle>-${vfov/2.0*M_PI/180.0}</min_angle>
<max_angle>${vfov/2.0*M_PI/180.0}</max_angle>
</vertical>
</scan>
<range>
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