Dependencies

# install pcap library
sudo apt-get install git libpcap-dev 

# install ros-<DISTRO>-geometry2
sudo apt-get install ros-noetic-geometry2

Reference

1. Getting Started with the Velodyne VLP16
2. Velodyne
   • Point cloud conversions for Velodyne 3D LIDARs: velodyne_pointcloud

Overview

Velodyne¹ is a collection of ROS² packages supporting Velodyne high definition 3D LIDARs³.

Warning:

The master branch normally contains code being tested for the next ROS release. It will not always work with every previous release. To check out the source for the most recent release, check out the tag <version> with the highest version number.

The current master branch works with ROS Kinetic and Melodic. CI builds are currently run for Kinetic and Melodic.

• ¹Velodyne: http://www.ros.org/wiki/velodyne
• ²ROS: http://www.ros.org
• ³Velodyne high definition 3D LIDARs: http://www.velodynelidar.com/lidar/lidar.aspx