安装VLP16驱动(在师兄的基础上加了一点自己出现的错误)
| 五.配置velodyne16并安装其ros驱动包 |
| 网址1：https://www.cnblogs.com/Mrzhang95/p/9443808.html （用于velodyne连接配置，【注意】其后续安装驱动包命令错误) |
| 1.首先将velodyne16通过网线连接到电脑上并连接其电源。单击电脑屏幕右上角的网络连接图标——编辑连接，弹出“网络连接”窗口，单击“增加”，选择连接类型“以太网”——新建，连接名称填写“velodyne”，单击选择IPv4设置，方法更改为“手动”，单击增加，地址处填写“192.168.1.200”，子网掩码填写“24”，网关填写“192.168.1.0”。最后保存。 |
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2.配置完成后，打开浏览器，输入网址192.168.1.201，弹出界面【见网址1】。若能显示界面，则表示通信已经完成。建议将此网址保存，以便于验证连接。 如果配置完成后,无法打开网址192.168.1.201,看一下连接的以太网是否为velodyne,可以把其余的有线网络删除,只留下添加的velodyne. |
| 3.开始安装VLP16驱动：新建ROS工程：mkdir -p catkin_velodyne/src |
| cd catkin_velodyne/src 【若已经建好了工程(工作空间)，则可略去前两步】 |
| git clone https://github.com/ros-drivers/velodyne.git(转换到自己的网络,克隆网址内容) |
| cd .. 【注意命令有两个点】 |
| rosdep install --from-paths src --ignore-src --rosdistro kinetic -y 【kinetic为ros版本】 |
| catkin_make |
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source devel/setup.bash(此处最好用Tab键补出来,不然后续可能会出现找不到包的问题,如果后续出现了一下错误,可宠重新执行该命令,用Tab键!!! |
| 4.生成yaml文件：从附赠的U盘中复制出Velodyne的.xml文件转换成ROS节点的.yaml文件 |
| cd到工作空间 |
| rosrun velodyne_pointcloud gen_calibration.py XXX/VLP-16.xml 【输入命令时建议用Tab（Tab的用法在“鸟哥的Linux私房菜”中有讲到，是非常非常重要的工具）补全来保证命令或路径的正确，XXX为.xml文件的路径，此处要输入绝对路径，不清楚的可以在文件右键查看路径】 |
| 上述命令完成后会在.xml所在目录下生成对应的.yaml文件。 |
| 【避免你们找不到.xml文件或不会生成.yaml文件，我已经找好了百度云链接，vlp16.yaml 链接: https://pan.baidu.com/s/1c327b7IT3M5UTrF02Xua2g 提取码: m6yr】 |
| 【再次避免你们下载不了，直接把文件内容放在这，你们自己新建处这个文件，填好文件名VLP-16.yaml（名字可以随便填，但涉及到下方命令更改），把下面***中间的内容复制粘贴进去即可】 |
| *********************************************************************************************** |
| lasers: |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, |
| vert_correction: -0.2617993877991494, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, |
| vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, |
| vert_correction: -0.22689280275926285, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, |
| vert_correction: 0.05235987755982989, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, |
| vert_correction: -0.19198621771937624, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, |
| vert_correction: 0.08726646259971647, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, |
| vert_correction: -0.15707963267948966, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, |
| vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, |
| vert_correction: -0.12217304763960307, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, |
| vert_correction: 0.15707963267948966, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, |
| vert_correction: -0.08726646259971647, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, |
| vert_correction: 0.19198621771937624, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, |
| vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, |
| vert_correction: 0.22689280275926285, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, |
| vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} |
| - {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, |
| focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, |
| vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} |
| num_lasers: 16 |
| distance_resolution: 0.002 |
| *********************************************************************************************** |
| 5.运行launch文件 |
| roslaunch velodyne_pointcloud VLP16_points.launch calibration:=XXX/VLP-16.yaml 【此处XXX为.yaml文件的绝对路径】 |
| 为避免上述命令的复杂，现按如下方法可一次性避免： |
| 首先将.yaml文件放到ros包内部，避免不小心更改其路径或者将其删除， |
| 例：放到/home/mxh(根据个人用户名)/catkin_ws（根据个人工作空间名）/src/velodyne/velodyne_pointcloud/params |
| 修改catkin_ws(根据个人工作空间名)/src/velodyne/velodyne_pointcloud/launch/VLP16_points.launch文件 |
| 把arg name="calibration"的默认值修改为default="$(find velodyne_pointcloud)/params/VLP-16.yaml"，即： |
| <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP-16.yaml"/> |
| 最后保存。 |
| 上述完成后，以后每次只需要运行roslaunch velodyne_pointcloud VLP16_points.launch。 |
| 【第一次在catkin_ws/下执行上述roslaunch命令可能会报错提示说“velodyne_pointcloud或VL16_points.launch不是个包文件”，大概是这个意思，很多编译好的包都可能存在这种情况，有一种方法可以避免，就是直接cd到该launch文件所在的文件夹，然后执行roslaunch xxx.launch就可以执行了。这样执行一次之后，再在catkin_ws/下执行roslaunch命令：roslaunch 包名 launch文件名，就不会出问题了，再敲命令时，可以用Tab来补命令，包名称，文件名称和路径，来进行验证，若无法补出来，有大概率命令会出错】 |
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如果最后出现了 检查launch文件和放置文件路径都没问题的话,查看一下从百度云盘里下载的yaml文件是否正确,把上面写的内容替换从百度云盘里下载的内容,
6.启动rviz观察点云 |
| rosrun rviz rviz -f velodyne |
| 在rviz中点Add，topic中选择增加PointCloud2，再在PointCloud2下点topic输入/velodyne_points。 |
【其他操作可在网址中学习，或自行百度】