The Velodyne Driver

The Velodyne Driver Website.

Overview

This is a C++ driver which provides basic access to the Velodyne HD-64E Ladar. This driver will open a socket and recieve data from the Velodyne. And can be polled for the latest data.

Setup

To use the driver the ethernet adaptor which the Velodyne is attached to must be set to listen to the 192.168.1.* subnet.
For the software simply run:
$ ./configure
$ make

There will be a test program which will simply print the packets to standard out.
$ ./test_velodyneDriver

To install use:
$ make install
This will install the library in both static and shared object form to /usr/local/lib and the header file to /usr/local/include

Hardware

This is a driver for the Velodyne HD-64E Lidar. The manufacturer's website is at http://www.velodyne.com/lidar/.

Acknowledgments

Thanks to Alex Stewart and Jon Bohren for helping with the socket connections.

This driver was developed for the Ben Franklin Racing Team. Drivers for Sick LMS and LD-LRS Lidars from the team are also release on their own SourceForge project, The Sick Lidar Matlab/C++ Toolbox.

Publication of this driver has been supported by Willow Garage.

Contact

This was written by Tully Foote. Feature requests and bugs should be reported using the bug tracker. If you have other questions please contact me at tfoote ( at ) willowgarage ( dot ) com.

Thanks to SourceForge for hosting us.