:octocat: A Minimal Driver for Velodyne HDL-32E/64E VLP-16 Lidars
Most Velodyne lidar drivers are needlessly complex, or specifically written for a particular middleware (e.g. ROS). This repo contains minimal, lightweight code to build shared libraries to interface to and decode packets from the Velodyne HDL (and VLP-16) family of lidars.
Under the tests directory you can find example code on how to use the PacketDriver and PacketDecoder libraries, as well as the PacketFileWriter header.
sudo apt-get install libpcap-dev
sudo apt-get install libboost-all-dev
mkdir build
cd build
cmake ..
make
export PATH="PATH:/..../path/to/build
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/..../path/to/build"
export LIBRARY_PATH="$LIBRARY_PATH:/..../path/to/build"
export CPLUS_INCLUDE_PATH="$CPLUS_INCLUDE_PATH:/..../path/to/source"
PacketFileSender pcap_file.pcap
test_PacketDriver
test_PacketDecoder
test_PacketWriter
test_PacketBundler
test_PacketBundleDecoder