/velodyne-go-module

Primary LanguageGoMIT LicenseMIT

Velodyne Module

the velodyne module implements the vlp-16 Velodyne Puck as a modular viam camera component that implements point clouds using an unofficial golang implementation found at go.einride.tech/vlp16. The Velodyne must be running locally at address 127.0.0.1. The only supported model is the vlp-16, which is the only model implemented by this repo.

Configure a velodyne-go-module:vlp-16 Camera"

Navigate to the CONFIGURE tab of your machine's page in the Viam app. Click the + icon next to your machine part in the left-hand menu and select Component. Select the camera type, then select the rand:velodyne-go-module:vlp-16 model. Enter a name or use the suggested name for your camera and click Create.

Edit and fill in the attributes as applicable.

JSON Template" %}}

{
 "components": [
 {
  "name": "<your-camera-name>",
  "model": "rand:velodyne-go-module:vlp-16",
  "type": "camera",
  "namespace": "rdk",
  "attributes": {
      "port": <int>,
      "ttl_ms": <int>,
  }
 }
],
  "modules": [
    {
      "type": "registry",
      "name": "module_name",
      "module_id": "rand:velodyne-go-module",
      "version": "x.y.z"
    }
  ],
}

Attributes

The following attributes are available for vlp-16 cameras:

Name Type Required? Description
port int Required The port the Velodyne camera is running on. Try 2368 if you are unsure.
ttl_ms int Required Frequency in milliseconds to output the TTL signal from the camera.