Dear list,
At ASL we are beginning to write a ROS driver for the Velodyne HDL-64E
S2. There exists already a Velodyne driver in ROS but for a different model.
The Velodyne HDL-64E S2 is a rotating lidar sensor that consists of 64
lasers mounted on a rotating platform. The sensor head rotates up to 15
rps and at that speed it acquires ~1400 points per laser per turn.
We can thus consider this scanner as being a source of LaserScan (64
points) and tf_data (the rotation matrix of the head) at the rate of 21
kHz. Ideally, one would use a scan_to_cloud_filter_chain to fuse these
into a point cloud. However with a sensor of such a high bandwidth the
amount of context switches seems prohibitively large for implementing
such a scheme. While maybe with current hardware this sensor produces
too much data for complex real-time processing, the conceptual problem
remains.
Is there any discussion on this question or any work toward a solution,
for instance implementing laser_filters using nodelets?
Thank you, kind regards,
Stéphane
--
Dr Stéphane Magnenat
http://stephane.magnenat.net
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