mac137 / velodyne

ROS support for Velodyne 3D LIDARs

This fork

In the original repo, velodyne_pointcloud is always timestamped according to either the beginning or the end of the revolution of Velodyne lidars. This fork changes this behaviour in such a way that these timestmaps are always synced with the points in front of the sensor. If you would like to project lidar points onto a camera space that is also facing the front, then this repo can help to reduce the discrepancy of the projection when your senors are moving.

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Overview

Velodyne¹ is a collection of ROS² packages supporting Velodyne high definition 3D LIDARs³.

Warning:

The master branch normally contains code being tested for the next ROS release. It will not always work with every previous release. To check out the source for the most recent release, check out the tag <version> with the highest version number.

The current master branch works with ROS Kinetic and Melodic. CI builds are currently run for Kinetic and Melodic.

• ¹Velodyne: http://www.ros.org/wiki/velodyne
• ²ROS: http://www.ros.org
• ³Velodyne high definition 3D LIDARs: http://www.velodynelidar.com/lidar/lidar.aspx