README for Velodyne Driver
Table of Contents:
1. Installation
2. Test Usage
3. API
Installation:
To install, download the tarball or checkout the source code
run the following:
$> ./configure
$> make
$> sudo make install
Test Usage:
$> test_velodyneDriver
Connect the Velodyne to the ethernet port and set the network adapter
to an IP in the same range as the Velodyne. (Caution: this depends on the
version of your firmware.)
To make sure that the velodyne-driver is working run test_velodyneDriver.
test_velodyneDriver will print the contents of each packet to the screen.
API:
/* Get a new message
* Return: socket read size
* Arguments: A reference to a packet preallocated and receive flags.
*
* The receive_flags are passed through to the socket call,
* possible values are defined in bits/socket.h Suggested MSG_NOWAIT
*/
int rx_udp_packet(velodyne_packet_t& packet_reference,int socket_recieve_flags);
//Print the packet to the screen
void print_packet(velodyne_packet_t &);
