I would like to see if I could create add the ability to create a depth image to the velodyne stack. I have a theoretical approach lined out:

(from my ros answers post)

I think if I can get the 'rotation' value from the 'row_block_t' (from rawdata.h) and then the 'laser_number' values (from rawdata.cc), I can make a matrix of size ROTATION_MAX_UNITS by SCANS_PER_BLOCK and then store the depth to each pixel (raw->blocks[i].rotation, j). However, I'm kind of unsure on how to access the values I need. I have the velodyne package in my workspace and the rawdata.cc, but I don't know how to use that information.

Hello all,

We are experiencing some frustrating issues with these drivers where the entire nodelet stops functioning. It typically happens after we have run the robot for many hours (12-36) and then begins to happen at a relatively frequent rate (every hour to every couple hours). It seemingly happens randomly and we can not induce it.

We are running our robots with ubuntu 14.04, ros indigo and the VLP16 model. We also are using the ros package pointcloud_to_laserscan to compress the 3d pointcloud into a laserscan for localization. This is run as a nodelet so it should be using the same process and publishes /velodyne_scan and /velodyne_scan2 .

Most of the time the symptoms are that none of the relevant topics are being published (velodyne_nodelet_manager/bond, /velodyne_points, /velodyne_packet /velodyne_scan#) and the node is not pingable. Usually the node still exists but upon running "rosnode info /velodyne_nodelet_manager" at the end of the description it will state in some way an error communicating with the process.

Sometimes the node itself dies off completely and is not listed in rosnode list.

In trying to debug and find the root cause we initiated some debugging. These are the settings we used: log4j.logger.ros.velodyne_nodelet_manager=DEBUG log4j.logger.ros.cloud_nodelet=DEBUG log4j.logger.ros.driver_nodelet=DEBUG log4j.logger.ros.nodelet=DEBUG log4j.logger.ros.velodyne_driver=DEBUG log4j.logger.ros.velodyne_pointcloud=DEBUG

This writes data really fast into the log file and grows by over a hundred MB per hour. However, unfortunately this came up with nothing. This is written to the file over and over for every pointcloud:

^[[32m[DEBUG] [1445929728.337558536]: Received packet, time: 1445929728.299481392^[[0m ^[[32m[DEBUG] [1445929728.337645137]: Received packet, time: 1445929728.300796509^[[0m ^[[32m[DEBUG] [1445929728.337735126]: Received packet, time: 1445929728.302118540^[[0m ^[[32m[DEBUG] [1445929728.337870391]: Received packet, time: 1445929728.303478241^[[0m ^[[32m[DEBUG] [1445929728.337972481]: Received packet, time: 1445929728.304841995^[[0m ^[[32m[DEBUG] [1445929728.338067212]: Received packet, time: 1445929728.306172848^[[0m ^[[32m[DEBUG] [1445929728.338160992]: Received packet, time: 1445929728.307489872^[[0m ^[[32m[DEBUG] [1445929728.338254090]: Received packet, time: 1445929728.308785200^[[0m ^[[32m[DEBUG] [1445929728.338347160]: Received packet, time: 1445929728.310112000^[[0m ^[[32m[DEBUG] [1445929728.338450413]: Received packet, time: 1445929728.311497688^[[0m ^[[32m[DEBUG] [1445929728.338568938]: Received packet, time: 1445929728.312825441^[[0m ^[[32m[DEBUG] [1445929728.338664660]: Received packet, time: 1445929728.314089775^[[0m ^[[32m[DEBUG] [1445929728.338756399]: Received packet, time: 1445929728.315409422^[[0m ^[[32m[DEBUG] [1445929728.338847289]: Received packet, time: 1445929728.316730022^[[0m ^[[32m[DEBUG] [1445929728.338940818]: Received packet, time: 1445929728.318071604^[[0m ^[[32m[DEBUG] [1445929728.339032473]: Received packet, time: 1445929728.319428921^[[0m ^[[32m[DEBUG] [1445929728.339123703]: Received packet, time: 1445929728.320755959^[[0m ^[[32m[DEBUG] [1445929728.339214184]: Received packet, time: 1445929728.322075367^[[0m ^[[32m[DEBUG] [1445929728.339307896]: Publishing 26503 Velodyne points, time: 1445929728322075^[[0m ^[[32m[DEBUG] [1445929728.427584178]: Publishing a full Velodyne scan.^[[0m

When the node dies the log file is abruptly stopped without any indication as to why. In one case I observed it stopped in the middle of the received packet, time: blocks and at one point I observed it stop between publishing the velodyne points and publishing the velodyne scan

Looking at the master.log log file we found slightly more interesting outputs which I will paste at the end here, I would like to attach documents but it says I need write permission to this repository to do so.

Any help in figuring out what is causing our nodes to crash would be greatly appreciated!

One instance: [rosmaster.master][INFO] 2015-10-18 19:09:14,454: +PARAM [/amcl/initial_pose_y] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:14,454: +PARAM [/amcl/initial_pose_a] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:14,455: +PARAM [/amcl/initial_cov_xx] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:14,456: +PARAM [/amcl/initial_cov_yy] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:14,457: +PARAM [/amcl/initial_cov_aa] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,544: +PARAM [/amcl/initial_pose_x] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,546: +PARAM [/amcl/initial_pose_y] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,547: +PARAM [/amcl/initial_pose_a] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,548: +PARAM [/amcl/initial_cov_xx] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,549: +PARAM [/amcl/initial_cov_yy] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:16,550: +PARAM [/amcl/initial_cov_aa] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,644: +PARAM [/amcl/initial_pose_x] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,646: +PARAM [/amcl/initial_pose_y] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,647: +PARAM [/amcl/initial_pose_a] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,647: +PARAM [/amcl/initial_cov_xx] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,648: +PARAM [/amcl/initial_cov_yy] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:18,649: +PARAM [/amcl/initial_cov_aa] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,744: +PARAM [/amcl/initial_pose_x] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,746: +PARAM [/amcl/initial_pose_y] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,748: +PARAM [/amcl/initial_pose_a] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,749: +PARAM [/amcl/initial_cov_xx] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,750: +PARAM [/amcl/initial_cov_yy] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:20,750: +PARAM [/amcl/initial_cov_aa] by /amcl [rosmaster.master][INFO] 2015-10-18 19:09:24,157: -PUB [/rosout] /pointcloud_to_laserscan http://min12:50260/ [rosmaster.master][INFO] 2015-10-18 19:09:24,158: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:50260/ [rosmaster.master][INFO] 2015-10-18 19:09:24,160: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:50260/ [rosmaster.master][INFO] 2015-10-18 19:09:24,162: -SERVICE [/pointcloud_to_laserscan/get_loggers] /pointcloud_to_laserscan rosrpc://min12:55271 [rosmaster.master][INFO] 2015-10-18 19:09:24,164: -SERVICE [/pointcloud_to_laserscan/set_logger_level] /pointcloud_to_laserscan rosrpc://min12:55271 [rosmaster.master][INFO] 2015-10-18 19:09:24,183: -PUB [/rosout] /pointcloud_to_laserscan2 http://min12:50447/ [rosmaster.master][INFO] 2015-10-18 19:09:24,185: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:50447/ [rosmaster.master][INFO] 2015-10-18 19:09:24,187: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:50447/ [rosmaster.master][INFO] 2015-10-18 19:09:24,190: -SERVICE [/pointcloud_to_laserscan2/get_loggers] /pointcloud_to_laserscan2 rosrpc://min12:42075 [rosmaster.master][INFO] 2015-10-18 19:09:24,191: -SERVICE [/pointcloud_to_laserscan2/set_logger_level] /pointcloud_to_laserscan2 rosrpc://min12:42075 [rosmaster.master][INFO] 2015-10-18 19:09:24,201: -PUB [/rosout] /driver_nodelet http://min12:42248/ [rosmaster.master][INFO] 2015-10-18 19:09:24,203: -PUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:42248/ [rosmaster.master][INFO] 2015-10-18 19:09:24,205: -SUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:42248/ [rosmaster.master][INFO] 2015-10-18 19:09:24,206: -SERVICE [/driver_nodelet/get_loggers] /driver_nodelet rosrpc://min12:48089 [rosmaster.master][INFO] 2015-10-18 19:09:24,208: -SERVICE [/driver_nodelet/set_logger_level] /driver_nodelet rosrpc://min12:48089 [rosmaster.master][INFO] 2015-10-18 19:09:24,240: publisherUpdate[/rosout] -> http://min12:47039/ [rosmaster.master][INFO] 2015-10-18 19:09:24,241: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/ [rosmaster.master][INFO] 2015-10-18 19:09:24,242: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50260/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,244: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 969, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 829, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 791, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 772, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 571, in create_connection raise err error: [Errno 111] Connection refused

[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,245: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,245: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50447/ [rosmaster.master][INFO] 2015-10-18 19:09:24,246: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,248: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,249: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,250: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,250: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/ [rosmaster.master][INFO] 2015-10-18 19:09:24,251: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50447/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,252: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 969, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 829, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 791, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 772, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 571, in create_connection raise err error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,252: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,253: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,253: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,253: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:24,254: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/ [rosmaster.master][INFO] 2015-10-18 19:09:24,254: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:42248/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,256: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,256: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 969, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 829, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 791, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 772, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 571, in create_connection raise err error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,256: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/ [rosmaster.master][INFO] 2015-10-18 19:09:24,265: publisherUpdate[/rosout] -> http://min12:47039/ [rosmaster.master][INFO] 2015-10-18 19:09:24,280: publisherUpdate[/rosout] -> http://min12:47039/ [rosmaster.master][INFO] 2015-10-18 19:09:24,358: -PUB [/rosout] /cloud_nodelet http://min12:43587/ [rosmaster.master][INFO] 2015-10-18 19:09:24,360: -PUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:43587/ [rosmaster.master][INFO] 2015-10-18 19:09:24,361: -SUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:43587/ [rosmaster.master][INFO] 2015-10-18 19:09:24,362: -SERVICE [/cloud_nodelet/get_loggers] /cloud_nodelet rosrpc://min12:35425 [rosmaster.master][INFO] 2015-10-18 19:09:24,363: -SERVICE [/cloud_nodelet/set_logger_level] /cloud_nodelet rosrpc://min12:35425 [rosmaster.master][INFO] 2015-10-18 19:09:24,395: publisherUpdate[/rosout] -> http://min12:47039/ [rosmaster.master][INFO] 2015-10-18 19:09:24,414: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:55367/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,415: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1292, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1439, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 969, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 829, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 791, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 772, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 571, in create_connection raise err error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2015-10-18 19:09:24,416: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:43587/ [rosmaster.threadpool][ERROR] 2015-10-18 19:09:24,417: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-18 19:09:26,965: -SUB [/map] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:26,986: +SUB [/map] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,288: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,290: -PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,292: -SERVICE [/move_base/global_costmap/static_layer/set_parameters] /move_base rosrpc://min12:34615 [rosmaster.master][INFO] 2015-10-18 19:09:27,294: +SERVICE [/move_base/global_costmap/static_layer/set_parameters] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,296: +PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,298: +PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:27,301: +PARAM [/move_base/global_costmap/static_layer/enabled] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,303: +PARAM [/move_base/global_costmap/static_layer/enabled] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,324: +PARAM [/move_base/global_costmap/inflation_layer/enabled] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,325: +PARAM [/move_base/global_costmap/inflation_layer/cost_scaling_factor] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,326: +PARAM [/move_base/global_costmap/inflation_layer/inflation_radius] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,345: +PARAM [/move_base/local_costmap/inflation_layer/enabled] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,347: +PARAM [/move_base/local_costmap/inflation_layer/cost_scaling_factor] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:27,349: +PARAM [/move_base/local_costmap/inflation_layer/inflation_radius] by /move_base [rosmaster.master][INFO] 2015-10-18 19:09:32,363: -SUB [/map] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:32,382: +SUB [/map] /move_base http://min12:44820/ [rosmaster.master][INFO] 2015-10-18 19:09:32,685: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http:/

ANOTHER EXAMPLE:

[rosmaster.master][INFO] 2015-10-29 10:38:12,246: -PUB [/cloud_nodelet/parameter_updates] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,246: publisherUpdate[/velodyne_packets] -> http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,247: -PUB [/velodyne_scan] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,249: -PUB [/velodyne_scan2] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,250: -SUB [/velodyne_nodelet_manager/bond] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,251: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,251: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,252: -SUB [/velodyne_packets] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,252: publisherUpdate[/rosout] -> http://min12:44797/ [rosmaster.master][INFO] 2015-10-29 10:38:12,253: publisherUpdate[/cat_scan] -> http://min12:41819/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,253: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,254: -SUB [/velodyne_points] /velodyne_nodelet_manager http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,255: occuringpublisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,255: publisherUpdate[/rosout] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,256: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/ [rosmaster.master][INFO] 2015-10-29 10:38:12,257: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,258: -SERVICE [/velodyne_nodelet_manager/get_loggers] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.master][INFO] 2015-10-29 10:38:12,258: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/ [rosmaster.master][INFO] 2015-10-29 10:38:12,259: -SERVICE [/velodyne_nodelet_manager/set_logger_level] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.master][INFO] 2015-10-29 10:38:12,260: publisherUpdate[/velodyne_points] -> http://min12:46470/ [rosmaster.master][INFO] 2015-10-29 10:38:12,261: -SERVICE [/velodyne_nodelet_manager/load_nodelet] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,261: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,262: publisherUpdate[/velodyne_scan] -> http://min12:52444/ [rosmaster.master][INFO] 2015-10-29 10:38:12,262: publisherUpdate[/velodyne_scan] -> http://min12:45521/ [rosmaster.master][INFO] 2015-10-29 10:38:12,263: -SERVICE [/velodyne_nodelet_manager/unload_nodelet] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.master][INFO] 2015-10-29 10:38:12,264: publisherUpdate[/velodyne_scan2] -> http://min12:44477/ [rosmaster.master][INFO] 2015-10-29 10:38:12,264: -SERVICE [/velodyne_nodelet_manager/list] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.master][INFO] 2015-10-29 10:38:12,266: -SERVICE [/cloud_nodelet/set_parameters] /velodyne_nodelet_manager rosrpc://min12:59677 [rosmaster.master][INFO] 2015-10-29 10:38:12,267: publisherUpdate[/velodyne_scan2] -> http://min12:35477/ [rosmaster.master][INFO] 2015-10-29 10:38:12,268: publisherUpdate[/diagnostics] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,269: publisherUpdate[/velodyne_packets] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,269: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,270: publisherUpdate[/velodyne_points] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,270: publisherUpdate[/cloud_nodelet/parameter_descriptions] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,271: publisherUpdate[/cloud_nodelet/parameter_updates] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,271: publisherUpdate[/velodyne_scan] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,272: publisherUpdate[/velodyne_scan2] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,357: -PUB [/rosout] /driver_nodelet http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,358: -PUB [/rosout] /cloud_nodelet http://min12:50975/ [rosmaster.master][INFO] 2015-10-29 10:38:12,359: -PUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,359: -PUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:50975/ [rosmaster.master][INFO] 2015-10-29 10:38:12,360: -SUB [/velodyne_nodelet_manager/bond] /driver_nodelet http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,361: -PUB [/rosout] /pointcloud_to_laserscan2 http://min12:38945/ [rosmaster.master][INFO] 2015-10-29 10:38:12,363: -SUB [/velodyne_nodelet_manager/bond] /cloud_nodelet http://min12:50975/ [rosmaster.master][INFO] 2015-10-29 10:38:12,364: -SERVICE [/driver_nodelet/get_loggers] /driver_nodelet rosrpc://min12:51483 [rosmaster.master][INFO] 2015-10-29 10:38:12,365: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:38945/ [rosmaster.master][INFO] 2015-10-29 10:38:12,366: -SERVICE [/cloud_nodelet/get_loggers] /cloud_nodelet rosrpc://min12:46616 [rosmaster.master][INFO] 2015-10-29 10:38:12,367: publisherUpdate[/rosout] -> http://min12:44797/ [rosmaster.master][INFO] 2015-10-29 10:38:12,368: -SERVICE [/driver_nodelet/set_logger_level] /driver_nodelet rosrpc://min12:51483 [rosmaster.master][INFO] 2015-10-29 10:38:12,368: publisherUpdate[/rosout] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,372: -SUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan2 http://min12:38945/ [rosmaster.master][INFO] 2015-10-29 10:38:12,372: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,373: -SERVICE [/cloud_nodelet/set_logger_level] /cloud_nodelet rosrpc://min12:46616 [rosmaster.master][INFO] 2015-10-29 10:38:12,375: -SERVICE [/pointcloud_to_laserscan2/get_loggers] /pointcloud_to_laserscan2 rosrpc://min12:39129 [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,376: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,376: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,377: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,377: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,378: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,379: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,379: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:33734/ [rosmaster.master][INFO] 2015-10-29 10:38:12,380: -SERVICE [/pointcloud_to_laserscan2/set_logger_level] /pointcloud_to_laserscan2 rosrpc://min12:39129 [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,380: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,381: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:50975/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,382: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,382: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,383: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,384: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,384: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,384: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:38945/ [rosmaster.threadpool][ERROR] 2015-10-29 10:38:12,385: Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(args) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in call return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1578, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1264, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1297, in single_request return self.parse_response(response) File "/usr/lib/python2.7/xmlrpclib.py", line 1473, in parse_response return u.close() File "/usr/lib/python2.7/xmlrpclib.py", line 793, in close raise Fault(*self._stack[0]) Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2015-10-29 10:38:12,386: publisherUpdate[/rosout] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,387: publisherUpdate[/rosout] -> http://min12:44797/ [rosmaster.master][INFO] 2015-10-29 10:38:12,395: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,396: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,397: publisherUpdate[/rosout] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,399: publisherUpdate[/rosout] -> http://min12:44797/ [rosmaster.master][INFO] 2015-10-29 10:38:12,406: publisherUpdate[/velodyne_nodelet_manager/bond] -> http://min12:41819/ [rosmaster.master][INFO] 2015-10-29 10:38:12,485: -PUB [/rosout] /pointcloud_to_laserscan http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,486: -PUB [/velodyne_nodelet_manager/bond] /pointcloud_to_laserscan http://min12:49823/ [rosmaster.master][INFO] 2015-10-29 10:38:12,486: publisherUpdate[/rosout] -> http://min12:44797/

Hey,

I have two VPL16 velodyne laser scanners and I connected using a switch to my computer.

I fixed first VPL 16's IP to 192.168.1.201 and second VPL's IP to 192.168.1.202 using Web GUI

and then I ran the velodyne package; roslaunch velodyne_pointcloud VLP16_points2_2.launch

here is the code of VLP16_points2_2.launch

<launch>

<group ns="ns1">

  <!-- declare arguments with default values -->

  <arg name="pcap" default="" />

  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>

  <arg name="min_range" default="0.4" />

  <arg name="max_range" default="130.0" />

    <arg name="device_ip" default="192.168.1.201" />


  <!-- start nodelet manager and driver nodelets -->

  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">

    <arg name="model" value="VLP16"/>

    <arg name="device_ip" value="$(arg device_ip)" />

    <arg name="pcap" value="$(arg pcap)"/>

  </include>

  <!-- start cloud nodelet -->

  <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">

    <arg name="calibration" value="$(arg calibration)"/>

    <arg name="min_range" value="$(arg min_range)"/>

    <arg name="max_range" value="$(arg max_range)"/>

  </include>

</group>

<group ns="ns2">

  <!-- declare arguments with default values -->

  <arg name="pcap" default="" />

  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>

  <arg name="min_range" default="0.4" />

  <arg name="max_range" default="130.0" />

  <arg name="device_ip" default="192.168.1.202" />


  <!-- start nodelet manager and driver nodelets -->

  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">

    <arg name="model" value="VLP16"/>

    <arg name="device_ip" value="$(arg device_ip)" />

    <arg name="pcap" value="$(arg pcap)"/>

  </include>

  <!-- start cloud nodelet -->

  <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">

    <arg name="calibration" value="$(arg calibration)"/>

    <arg name="min_range" value="$(arg min_range)"/>

    <arg name="max_range" value="$(arg max_range)"/>

  </include>

</group>

</launch>

However, I just can get only one topic which has combined data of two sensors Another topic is just empty Is there anything that I gotta do to get both of data?

Thank you in a advance I really appreciate your kind

The point definition was valid for all Velodyne Pointclouds. Workin with pcl requires to define such a point, so why removing it? How I have to guess the point type in order to work with the driver's pointcloud and pcl.

I think the definition was removed here: https://github.com/ros-drivers/velodyne/commit/b4ad0ae9b601d1f9fa234a1bbaaa8cbc179e4bcb.

See http://wiki.ros.org/velodyne_pointcloud?distro=melodic#C.2B-.2B-_API.

Hi, I use the velodyne-16 on ubuntu16.04, but I got the error:[ERROR] [1554173288.904455221]: DriverNodelet::devicePoll - Failed to poll device. What's the problem?

Hi everybody, here is a little modification of the Velodyne driver: I added the ability to compute and publish only on a defined angular area of the pointcloud.

Motivation: I'm using a Velodyne 32e for indoor and outdoor navigation. In some configurations I only focus on a part of the output pointcloud from the Velodyne. Select the interesting area at the beginning instead of wasting time doing post-treatment to extract a part of the output pointcloud should save useless computations.

Tests: I compiled and tested my code with my Velodyne 32e and I don't see any reason that it could fail with another velodyne sensor.

Application: I'm implementing and testing high speed navigation algorithms for autonomous rovers in unknown outdoor environments. In this situation all the processing must be done on line and I need to save computational ressources in order to run one or many obstacle detection and avoidance algorithms.

Note: I'm not familiar with github yet. I hope I did everything right, if not I apologize and would be happy to recieve any advice!

Regards

I am using the ROS to convert a .PCAP to a bag file. The bag file contains velodyne_packets topic and from the velodyne pointcloud driver ( https://github.com/ros-drivers/velodyne/tree/master/velodyne_pointcloud ) inside of params the VLP16db.yaml file doesn't seem to work. See problem below.

When I run the cloud node ( rosrun velodyne_pointcloud cloud_node _calibration:=/home/abe/velodyne/src/velodyne-master/velodyne_pointcloud/params/VLP16db.yaml ) it runs until I start playing the rosbag that contains the velodye_packets. it does a core dump when i try. Any suggestions?

Using our driver, I am unable to see anything closer than about 0.9m with the VLP-16.

Using the VeloView program on Windows, we were able to see objects with the same device at about half that distance, 45cm.

When using a VLP-16 with indoor robots, that difference is critical. We need to figure out how it is done.

xref: #60 cc: @piyushk, @PatrickHussey, @bricerebsamen

Would this repository consider adding a velodyne_description package, with a xacro for spawning Velodyne sensors (especially the HDL-32e) into larger robot models? If so, I could work on preparing such a thing.

A simple example of something comparable would be the flir_ptu_description package available alongside the FLIR driver, which provides a macro for the popular D46 device.

Update to satisfy exact packet rate provided by HDL-64E S3, according to manufacturer documentation. This packet rate varies sligthly according to the spin rate.

added organize_cloud support. The published clouds are organized when the organize_cloud option is enabled. This helps for really fast estimation of point normals or really fast triangulation to a mesh.

Hi,

I want to ask what is the focal distance unit of HDL 64e in the HDL 64e XML? https://github.com/ros-drivers/velodyne/blob/16be7978ee0fa78818a9ff04faf5efac83ccf378/velodyne_pointcloud/params/64e_s3-xiesc.yaml#L6

Question: Is the unit of focal distance meter?

I assumed the focal distance has the unit of meter after I read the source code.

The following equation can compensate for the intensity according to the HDL 64e s3 user manual:

https://github.com/ros-drivers/velodyne/blob/16be7978ee0fa78818a9ff04faf5efac83ccf378/velodyne_pointcloud/src/lib/rawdata.cc#L488-L493

But in this case, the focal distance is assumed to have the unit of centimeter and corrections.focal_distance has the unit of meter. Hence, I think it would be float focal_offset = 256 * (1 - corrections.focal_distance / 131) * (1 - corrections.focal_distance / 131); , if corrections.focal_distance has the unit of meter.

• pull: https://github.com/ros-drivers/velodyne/pull/473
• issues: https://github.com/ros-drivers/velodyne/issues/109 https://github.com/ros-drivers/velodyne/issues/295
• commit: https://github.com/ros-drivers/velodyne/commit/f30d68735c47312aa73d29203ddb16abc01357f4

Prior to the cut_angle feature being added, the default behavior was to consider a complete rotation to be a set number of packets. This feature being added and enabled by default changed the default behavior subtley and caused undesired effects. This PR reverts that change but leaves the cut_angle feature available for those who choose to use it.

Please complete the following information: ROS1:

• OS and Version: [ Ubuntu 16.04]
• ROS Version: [Kinetic]
• Downloaded from Official Repository:
• Version: [1.5.2]

ROS2:

• OS and Version: Ubuntu 22.04
• ROS Version: Humble
• Downloaded from Official Repository:
• Version: https://github.com/ros-drivers/velodyne/commit/f149faf8392f6dee0387969bce5b518953c1fcf5

Describe the bug Using the same pcap file, the velodyne_packets and velodyne_pointcloud output from ros1 and ros2 are different, leading the visualization in rviz show different. ros2 pipeline shows multiple reflection of the same objects at wront location. (like a ghost image)

See rviz output video below: ROS1:

https://user-images.githubusercontent.com/11035640/207976588-6118e148-58f8-48bd-96ea-307710a9a5a3.mp4

ROS2:

https://user-images.githubusercontent.com/11035640/207976598-8ac2dbd8-e3da-4557-8ebd-91b0846aa38d.mp4

I exam the velodyne_driver output, (topic velodyne_packets), for the first output frame (using rostopic echo -n 1 for ros1 or ros2 topic echo --once in ros2), ros1 has more packets (151 packets) than ros2(128 packets). (The actual data for the 128 packets from ros2 are the same as those in ros1 output, just missing the rest packets). I wonder what make the velodyne driver treat the same pcap file differently?

Please complete the following information:

• OS and Version: Ubuntu 22.04
• ROS Version: Humble
• Downloaded from Official Repository:
• Version: f149faf8392f6dee0387969bce5b518953c1fcf5

I had a working pipeline that using the velodyne_pointclouds to present data on rviz in ros1 (kinetic) environment, And the pointcloud shown in rviz normal. Recently I migrate from ros1 to ros2 (Humble), using the same pipeline, the pointcloud shown in rviz2 is broken. (Video shown below)

To Reproduce ros2 launch velodyne velodyne-all-nodes-VLP32C-launch.py rviz2 change the Fixed Frame to velodyne

One thing I notice is that, with kinetic, in the /velodyne_points topic returned data's header section, the height and width is different than that returned by humble /velodyne_points: In kinetic: ... height: 1 width: 21360 ...

while in humble: ... height: 12 width: 32 ... I wonder what is the decision factor of this height and width?