Velodyne VLP 16 LIDAR

Network Configuration

Plug the VLP-16 into an ethernet port.

Open network manager, select “Edit Connections...”.

Add a connection to the selected port with the name “velodyne”, and manually configure it:

• IP address: 192.168.1.77
• netmask: 255.255.255.0
• gateway: 192.168.1.0

ROS Device Driver

Add https://github.com/ros-drivers/velodyne.git to your catkin workspace, build it, and source that devel/setup.bash script.

Testing

$ roslaunch velodyne_pointcloud VLP16_points.launch

In another terminal run rviz. Create a “PointCloud2” display, select the “velodyne_points” topic, set the display type to “points”, and monochrome intensity.