moos-ivp-velodyne

Velodyne Drivers for MOOS-IvP

Implementation of VelodyneHDL (https://github.com/nicrip/VelodyneHDL) drivers for MOOS-IvP.

Dependencies

VelodyneHDL Library:

https://github.com/nicrip/VelodyneHDL

MOOS-IvP V10:

You must have MOOSV10 for these drivers to work correctly, with MOOS built with asynchronous communications support - Velodyne packets are streamed so quickly that MOOS pre-V10 cannot keep up

Build

Building:

./build.sh

Add To .bashrc:

export PATH="PATH:/..../path/to/bin

Usage

Publishing Velodyne Packets to MOOSDB:

iVelodyneHDL iVelodyneHDL.moos

Decoding Velodyne Packets from MOOSDB and Publishing Point Data to MOOSDB:

pVelodyneHDLDecoder pVelodyneHDLDecoder.moos

Example .moos Configuration Files:

You can find sample .moos configuration files in their respective source directories