VLS-128 driver added

COPYING

@@ -0,0 +1,41 @@
+
+ Copyright (C) 2010-2013 Austin Robot Technology, and others
+ All rights reserved.
+
+
+All code in this repository is released under the terms of the
+following Modified BSD License.
+
+
+Modified BSD License:
+--------------------
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions
+  are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+
+    * Neither the names of the University of Texas at Austin, nor
+      Austin Robot Technology, nor the names of other contributors may
+      be used to endorse or promote products derived from this
+      software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,2 +1,5 @@
-# velodyne_vls
-Velodyne ROS driver for VLS sensors.
+Repository for VelodyneLiDAR VLS sensors (It currently supports VLS-128).
+
+The code is highly leveraged from https://github.com/ros-drivers/velodyne.
+
+This code is only tested in ROS Kinetic.

README.rst

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+Overview
+========
+
+Velodyne_ is a collection of ROS_ packages supporting `Velodyne high
+definition 3D LIDARs`_.
+
+**Warning**::
+
+  The master branch normally contains code being tested for the next
+  ROS release.  It will not always work with every previous release.
+
+The current ``master`` branch works with ROS Kinetic, Jade, and
+Indigo.  It may work with Hydro and Groovy, but that has not been
+tested recently.  To build for Fuerte from source, check out the
+``rosbuild`` branch instead of ``master``.
+
+.. _ROS: http://www.ros.org
+.. _Velodyne: http://www.ros.org/wiki/velodyne
+.. _`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx

velodyne/CHANGELOG.rst

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+Change history
+==============
+
+1.3.0 (2017-11-10)
+------------------
+* Merge pull request `#110 <https://github.com/ros-drivers/velodyne/issues/110>`_ from kmhallen/master
+  Added velodyne_laserscan package
+* Added velodyne_laserscan package and inserted into existing launch files
+* Contributors: Jack O'Quin, Joshua Whitley, Kevin Hallenbeck
+
+1.2.0 (2014-08-06)
+------------------
+
+1.1.2 (2013-11-05)
+-------------------
+
+1.1.1 (2013-07-30)
+------------------
+
+1.1.0 (2013-07-16)
+------------------
+
+1.0.1 (2013-06-15)
+------------------
+
+1.0.0 (2013-06-14)
+------------------
+
+ * Convert to catkin (`#1`_).
+ * Release to Hydro.
+
+0.9.2 (2013-07-08)
+------------------
+
+0.9.1 (2012-06-05)
+------------------
+
+0.9.0 (2012-04-03)
+------------------
+
+ * Completely revised API, anticipating a 1.0.0 release.
+ * New velodyne_driver and velodyne_pointcloud packages.
+ * Old velodyne_common and velodyne_pcl packages no longer included.
+ * Released to Electric, Fuerte and Groovy.
+
+0.2.6 (2011-02-23)
+------------------
+
+0.2.5 (2010-11-19)
+------------------
+
+ * Initial implementation of new 0.3 interfaces.
+
+0.2.0 (2010-08-17)
+------------------
+
+ * Initial release to ROS C-turtle.
+
+.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
+.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
+.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
+.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
+.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
+.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
+.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
+.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
+.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
+.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
+.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
+.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
+.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20

velodyne/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(velodyne)
+find_package(catkin REQUIRED)
+catkin_metapackage()

velodyne/package.xml

@@ -0,0 +1,26 @@
+<package>
+
+  <name>velodyne</name>
+  <version>1.3.0</version>
+  <description>
+    Basic ROS support for the Velodyne VLS3D LIDARs.
+  </description>
+  <maintainer email="[email protected]">Nitinkumar Barot</maintainer>
+  <author> Jack O'Quin</author>
+  <license>BSD</license>
+  <!--
+  <review status="API reviewed" notes="2012-02-02"/>
+  -->
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>velodyne_driver</run_depend>
+  <run_depend>velodyne_laserscan</run_depend>
+  <run_depend>velodyne_msgs</run_depend>
+  <run_depend>velodyne_pointcloud</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+</package>

velodyne_driver/CHANGELOG.rst

@@ -0,0 +1,141 @@
+Change history
+==============
+
+1.3.0 (2017-11-10)
+------------------
+* Merge pull request `#129 <https://github.com/ros-drivers/velodyne/issues/129>`_ from kmhallen/pluginlib_macro
+  Modern pluginlib macro
+* Update to use non deprecated pluginlib macro
+* add launch args to support multiple devices (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
+* Merge pull request `#101 <https://github.com/ros-drivers/velodyne/issues/101>`_ from teosnare/master
+  velodyne_driver/src/lib/input.cc : fix for device_ip filter
+* Merge pull request `#104 <https://github.com/ros-drivers/velodyne/issues/104>`_ from altrouge/launch_options
+  Add more options in launch files.
+* Rearranged alphabetically.
+* Add more options in launch files.
+  - rpm, device_ip, port, read_once, read_fast, repeat_delay
+* velodyne_driver/src/lib/input.cc : fix for device_ip filter
+  Fix for device_ip filter in InputSocket: initialization of devip\_ for correct ip filtering in InputSocket::getPacket.
+* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 <https://github.com/ros-drivers/velodyne/issues/96>`_)
+* Merge pull request `#96 <https://github.com/ros-drivers/velodyne/issues/96>`_ from priyankadey/master
+  updated VLP-16 packet rate from user manual.
+* updated VLP-16 packet rate from user manual.
+  Also verified with sensor. It reduced overlap in the pointcloud
+* update change history
+* Merge pull request `#94 <https://github.com/ros-drivers/velodyne/issues/94>`_ from ros-drivers/pcap_port
+  velodyne_driver: use port number for PCAP data (`#46 <https://github.com/ros-drivers/velodyne/issues/46>`_, `#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
+* fix g++ 5.3.1 compile errors (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
+* merge current master (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
+* Merge pull request `#91 <https://github.com/ros-drivers/velodyne/issues/91>`_ from chukcha2/master
+  update velodyne_driver package description to include all models
+* update velodyne_driver package description to include all models
+* Merge pull request `#89 <https://github.com/ros-drivers/velodyne/issues/89>`_ from Tones29/feat_dynrec_driver
+  Add dynamic latency configuration to velodyne_driver
+* velodyne_driver: Add dynamic_reconfigure and time_offset correction
+  The value of time_offset is added to the calculated time stamp in live mode for each packet.
+* velodyne_driver: Make input destructors virtual
+* prepare change history for coming Indigo release (`#59 <https://github.com/ros-drivers/velodyne/issues/59>`_)
+* velodyne_driver: use port number for PCAP data (`#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
+* Merge pull request `#39 <https://github.com/ros-drivers/velodyne/issues/39>`_ from zooxco/multivelodyne
+  support for multiple velodynes
+* Merge pull request `#44 <https://github.com/ros-drivers/velodyne/issues/44>`_ from SISegwayRmp/master
+  adding driver and pointcloud support for the VLP16
+* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
+* adding support for the VLP16
+* parameters to set the udp port
+* fixed missing header
+* cleanup debug line
+* parameter and code added for working with multiple velodynes
+* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey
+
+1.2.0 (2014-08-06)
+------------------
+* Fixed bug in diagnostic rate for driver (`#16
+  <https://github.com/ros-drivers/velodyne/issues/16>`_)
+* Contributors: Brice Rebsamen, Jack O'Quin
+
+1.1.2 (2013-11-05)
+-------------------
+
+ * Move unit test data to download.ros.org (`#18`_).
+ * Install missing vdump script (`#17`_).
+
+1.1.1 (2013-07-30)
+------------------
+
+ * Add support for HDL-64E S2 and S2.1 models, which were not working before (`#11`_), thanks to Gabor Meszaros (`#12`_).
+ * Add additional parameters to launch files (`#14`_).
+
+1.1.0 (2013-07-16)
+------------------
+
+ * Fix build problems due to PCL 1.7 API incompatibilities (`#8`_),
+   thanks to William Woodall.  This version also works with Groovy, as
+   long as the correct ``pcl_conversions`` is installed.
+ * Fix errors with Mac OSX compiler (`#8`_).
+ * Install ``pluginlib`` XML files (`#9`_).
+ * Install some launch and parameter files.
+ * Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_).
+
+1.0.1 (2013-06-15)
+------------------
+
+ * Declare explicit ``pluginlib`` dependency (`#4`_).
+
+1.0.0 (2013-06-14)
+------------------
+
+ * Convert to catkin (`#1`_).
+ * Release to Hydro.
+
+0.9.2 (2013-07-08)
+------------------
+
+ * Fix Groovy build problem (`#7`_).
+
+0.9.1 (2012-06-05)
+------------------
+
+ * Driver socket read path improvements.
+ * Add unit tests with 32E data.
+ * Released to Electric, Fuerte and Groovy.
+
+0.9.0 (2012-04-03)
+------------------
+
+ * Completely revised API, anticipating a 1.0.0 release.
+ * HDL-32E device support.
+ * New velodyne_driver and velodyne_pointcloud packages.
+ * Old velodyne_common and velodyne_pcl packages no longer included.
+ * Released to Electric, Fuerte and Groovy.
+
+0.2.6 (2011-02-23)
+------------------
+
+ * Label all timing-dependent tests "realtime" so they do not run by
+   default on the build farm machines.
+
+0.2.5 (2010-11-19)
+------------------
+
+ * Initial implementation of new 0.3 interfaces.
+ * Support for ROS 1.3 `std_msgs::Header` changes.
+
+0.2.0 (2010-08-17)
+------------------
+
+ * Initial release to ROS C-turtle.
+
+.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
+.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
+.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
+.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
+.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
+.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
+.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
+.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
+.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
+.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
+.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
+.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
+.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20

velodyne_driver/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(velodyne_driver)
+
+set(${PROJECT_NAME}_CATKIN_DEPS 
+    diagnostic_updater
+    dynamic_reconfigure
+    nodelet
+    roscpp
+    tf
+    velodyne_msgs)
+
+find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS})
+
+# This driver uses Boost threads
+find_package(Boost REQUIRED COMPONENTS thread)
+
+# libpcap provides no pkg-config or find_package module:
+set(libpcap_LIBRARIES -lpcap)
+
+include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
+
+# Generate dynamic_reconfigure server
+generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg)
+
+# objects needed by other ROS packages that depend on this one
+catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
+               INCLUDE_DIRS include
+               LIBRARIES velodyne_input)
+
+# compile the driver and input library
+add_subdirectory(src/lib)
+add_subdirectory(src/driver)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(FILES nodelet_velodyne.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(PROGRAMS src/vdump
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+if (CATKIN_ENABLE_TESTING)
+
+  # these dependencies are only needed for unit testing
+  find_package(roslaunch REQUIRED)
+  find_package(rostest REQUIRED)
+
+  # Download packet capture (PCAP) files containing test data.
+  # Store them in devel-space, so rostest can easily find them.
+  catkin_download_test_data(
+    ${PROJECT_NAME}_tests_class.pcap
+    http://download.ros.org/data/velodyne/class.pcap
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+    MD5 65808d25772101358a3719b451b3d015)
+  catkin_download_test_data(
+    ${PROJECT_NAME}_tests_32e.pcap
+    http://download.ros.org/data/velodyne/32e.pcap
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+    MD5 e41d02aac34f0967c03a5597e1d554a9)
+  catkin_download_test_data(
+    ${PROJECT_NAME}_tests_vlp16.pcap
+    http://download.ros.org/data/velodyne/vlp16.pcap
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+    MD5 f45c2bb1d7ee358274e423ea3b66fd73)
+
+  # unit tests
+  add_rostest(tests/pcap_node_hertz.test)
+  add_rostest(tests/pcap_nodelet_hertz.test)
+  add_rostest(tests/pcap_32e_node_hertz.test)
+  add_rostest(tests/pcap_32e_nodelet_hertz.test)
+  add_rostest(tests/pcap_vlp16_node_hertz.test)
+  add_rostest(tests/pcap_vlp16_nodelet_hertz.test)
+
+  # parse check all the launch/*.launch files
+  roslaunch_add_file_check(launch)
+
+endif (CATKIN_ENABLE_TESTING)