1.安装驱动
sudo apt-get install ros-kinetic-velodyne结果：
lzy@lzy-Lenovo-ideapad-Y700-17ISK:~$ sudo apt-get install ros-kinetic-velodyne [sudo] password for lzy: Reading package lists... Done Building dependency tree Reading state information... Done The following packages were automatically installed and are no longer required: fltk1.3-doc fluid gazebo7 gazebo7-common gazebo7-plugin-base hddtemp libassimp-dev libassimp3v5 libbulletcollision2.83.6 libbulletdynamics2.83.6 libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3 libfltk1.3-dev libfreeimage-dev libfreeimage3 libgazebo7 libgazebo7-dev libgts-0.7-5 libgts-bin libgts-dev libignition-math2 libignition-math2-dev libinput-dev libjs-jquery-ui libjxr0 liblinearmath2.83.6 libogre-1.9-dev libogre-1.9.0v5 libprotoc-dev libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqgsttools-p1 libqt5multimediaquick-p5 libqt5multimediawidgets5 libqt5scripttools5 libqt5svg5-dev libqt5x11extras5 libqt5x11extras5-dev libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libruby2.3 libsdformat4 libsdformat4-dev libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libsimbody-dev libsimbody3.5v5 libspnav0 libtar-dev libtar0 liburdfdom-dev liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools liburdfdom-world0.4 libzzip-0-13 pyqt5-dev python-cycler python-imaging python-matplotlib python-matplotlib-data python-opengl python-psutil python-pydot python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-sip python-sip-dev qtbase5-private-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev rake ros-kinetic-actionlib-tutorials ros-kinetic-bond-core ros-kinetic-bondpy ros-kinetic-camera-calibration-parsers ros-kinetic-camera-info-manager ros-kinetic-cmake-modules ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials ros-kinetic-control-msgs ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostics ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgs ros-kinetic-gazebo-ros ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-tutorials ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-transport ros-kinetic-interactive-marker-tutorials ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters ros-kinetic-laser-geometry ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-export ros-kinetic-mk ros-kinetic-nav-msgs ros-kinetic-nodelet-core ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-orocos-kdl ros-kinetic-pluginlib-tutorials ros-kinetic-polled-camera ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model ros-kinetic-robot-state-publisher ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core ros-kinetic-ros-tutorials ros-kinetic-rosbag-migration-rule ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosconsole-bridge ros-kinetic-roscpp-core ros-kinetic-roscpp-tutorials ros-kinetic-roscreate ros-kinetic-roslang ros-kinetic-roslint ros-kinetic-roslisp ros-kinetic-rosmake ros-kinetic-rospy-tutorials ros-kinetic-rqt-action ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep ros-kinetic-rqt-graph ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view ros-kinetic-rqt-publisher ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test ros-kinetic-shape-msgs ros-kinetic-smach ros-kinetic-smach-msgs ros-kinetic-smach-ros ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-stereo-msgs ros-kinetic-tf-conversions ros-kinetic-tf2-geometry-msgs ros-kinetic-tf2-kdl ros-kinetic-trajectory-msgs ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorials ros-kinetic-webkit-dependency ros-kinetic-xacro ruby ruby-did-you-mean ruby-minitest ruby-net-telnet ruby-power-assert ruby-test-unit ruby2.3 rubygems-integration sbcl sdformat-sdf shiboken2 sip-dev tango-icon-theme tcl-vtk ttf-dejavu-core ttf-liberation Use 'sudo apt autoremove' to remove them. The following additional packages will be installed: libpcap0.8-dev libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6 ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-velodyne-driver ros-kinetic-velodyne-laserscan ros-kinetic-velodyne-msgs ros-kinetic-velodyne-pointcloud Suggested packages: libpcl-doc vtk6-doc vtk6-examples mayavi2 The following packages will be REMOVED: libvtk5-dev python-vtk The following NEW packages will be installed: libpcap0.8-dev libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6 ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-velodyne ros-kinetic-velodyne-driver ros-kinetic-velodyne-laserscan ros-kinetic-velodyne-msgs ros-kinetic-velodyne-pointcloud 0 upgraded, 12 newly installed, 2 to remove and 91 not upgraded. Need to get 4,350 kB/8,437 kB of archives. After this operation, 18.7 MB of additional disk space will be used. Do you want to continue? [Y/n] Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/main amd64 libpcap0.8-dev amd64 1.7.4-2 [212 kB] Get:2 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libpcl-dev amd64 1.7.2-14build1 [975 kB] Get:3 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 python-vtk6 amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [257 kB] Get:4 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 libvtk6-dev amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [2,189 kB] Get:5 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 libvtk6-qt-dev amd64 6.2.0+dfsg1-10build1+debian11.1+osrf1 [42.0 kB] Get:6 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-msgs amd64 1.5.0-0xenial-20181019-150738-0800 [16.9 kB] Get:7 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-driver amd64 1.5.0-0xenial-20181107-043054-0800 [188 kB] Get:8 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-laserscan amd64 1.5.0-0xenial-20181107-011842-0800 [81.2 kB] Get:9 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne-pointcloud amd64 1.5.0-0xenial-20181107-044034-0800 [386 kB] Get:10 http://mirrors.ustc.edu.cn/ros/ubuntu xenial/main amd64 ros-kinetic-velodyne amd64 1.5.0-0xenial-20181107-045824-0800 [2,220 B] Fetched 4,350 kB in 44s (97.1 kB/s) (Reading database ... 321328 files and directories currently installed.) Removing libvtk5-dev (5.10.1+dfsg-2.1build1) ... Removing python-vtk (5.10.1+dfsg-2.1build1) ... Processing triggers for man-db (2.7.5-1) ... Processing triggers for libc-bin (2.23-0ubuntu10) ... Selecting previously unselected package libpcap0.8-dev. (Reading database ... 318756 files and directories currently installed.) Preparing to unpack .../libpcap0.8-dev_1.7.4-2_amd64.deb ... Unpacking libpcap0.8-dev (1.7.4-2) ... Selecting previously unselected package python-vtk6. Preparing to unpack .../python-vtk6_6.2.0+dfsg1-10build1+debian11.1+osrf1_amd64.deb ... Unpacking python-vtk6 (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Selecting previously unselected package libvtk6-dev. Preparing to unpack .../libvtk6-dev_6.2.0+dfsg1-10build1+debian11.1+osrf1_amd64.deb ... Unpacking libvtk6-dev (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Selecting previously unselected package libvtk6-qt-dev. Preparing to unpack .../libvtk6-qt-dev_6.2.0+dfsg1-10build1+debian11.1+osrf1_amd64.deb ... Unpacking libvtk6-qt-dev (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Selecting previously unselected package libpcl-dev. Preparing to unpack .../libpcl-dev_1.7.2-14build1_amd64.deb ... Unpacking libpcl-dev (1.7.2-14build1) ... Selecting previously unselected package ros-kinetic-pcl-conversions. Preparing to unpack .../ros-kinetic-pcl-conversions_0.2.1-0xenial-20181107-013209-0800_amd64.deb ... Unpacking ros-kinetic-pcl-conversions (0.2.1-0xenial-20181107-013209-0800) ... Selecting previously unselected package ros-kinetic-pcl-ros. Preparing to unpack .../ros-kinetic-pcl-ros_1.4.4-0xenial-20181107-040839-0800_amd64.deb ... Unpacking ros-kinetic-pcl-ros (1.4.4-0xenial-20181107-040839-0800) ... Selecting previously unselected package ros-kinetic-velodyne-msgs. Preparing to unpack .../ros-kinetic-velodyne-msgs_1.5.0-0xenial-20181019-150738-0800_amd64.deb ... Unpacking ros-kinetic-velodyne-msgs (1.5.0-0xenial-20181019-150738-0800) ... Selecting previously unselected package ros-kinetic-velodyne-driver. Preparing to unpack .../ros-kinetic-velodyne-driver_1.5.0-0xenial-20181107-043054-0800_amd64.deb ... Unpacking ros-kinetic-velodyne-driver (1.5.0-0xenial-20181107-043054-0800) ... Selecting previously unselected package ros-kinetic-velodyne-laserscan. Preparing to unpack .../ros-kinetic-velodyne-laserscan_1.5.0-0xenial-20181107-011842-0800_amd64.deb ... Unpacking ros-kinetic-velodyne-laserscan (1.5.0-0xenial-20181107-011842-0800) ... Selecting previously unselected package ros-kinetic-velodyne-pointcloud. Preparing to unpack .../ros-kinetic-velodyne-pointcloud_1.5.0-0xenial-20181107-044034-0800_amd64.deb ... Unpacking ros-kinetic-velodyne-pointcloud (1.5.0-0xenial-20181107-044034-0800) ... Selecting previously unselected package ros-kinetic-velodyne. Preparing to unpack .../ros-kinetic-velodyne_1.5.0-0xenial-20181107-045824-0800_amd64.deb ... Unpacking ros-kinetic-velodyne (1.5.0-0xenial-20181107-045824-0800) ... Processing triggers for man-db (2.7.5-1) ... Setting up libpcap0.8-dev (1.7.4-2) ... Setting up python-vtk6 (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Setting up libvtk6-dev (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Setting up libvtk6-qt-dev (6.2.0+dfsg1-10build1+debian11.1+osrf1) ... Setting up libpcl-dev (1.7.2-14build1) ... Setting up ros-kinetic-pcl-conversions (0.2.1-0xenial-20181107-013209-0800) ... Setting up ros-kinetic-pcl-ros (1.4.4-0xenial-20181107-040839-0800) ... Setting up ros-kinetic-velodyne-msgs (1.5.0-0xenial-20181019-150738-0800) ... Setting up ros-kinetic-velodyne-driver (1.5.0-0xenial-20181107-043054-0800) ... Setting up ros-kinetic-velodyne-laserscan (1.5.0-0xenial-20181107-011842-0800) ... Setting up ros-kinetic-velodyne-pointcloud (1.5.0-0xenial-20181107-044034-0800) ... Setting up ros-kinetic-velodyne (1.5.0-0xenial-20181107-045824-0800) ...2.连接到激光雷达
address 192.168.1.77 netmask 255.255.255.0 gateway 192.168.1.1
然后在网址上输入192.168.1.201可以看到激光雷达的配置文件，成功后页面是这样的 3、新建一个ROS工程
mkdir -p catkin_velodyne/src catkin_velodyne/src git clone https://github.com/ros-drivers/velodyne.git cd … rosdep install --from-paths src --ignore-src --rosdistro kinetic -y catkin_make source devel/setup.bash4.把Velodyne XML文件转成ROS节点的YAML文件 HDL-32.xml文件是激光雷达附赠U盘中提供的，转换后生成HDL-32.yaml
rosrun velodyne_pointcloud gen_calibration.py +/VLP-16.xml"+"不要输进去，那里换成你自己VLP文件所在的路径名
5.加载
roslaunch velodyne_pointcloud HDL32E_points.launch calibration:=+/HDL-32.yaml此处“+”号也换成路径名
6.实时显示点云图
rosbag record -O out /velodyne_points接着在rviz中点Add，增加PointCloud2，再在PointCloud2下点topic输入/velodyne_points。这样就可以实时显示获取的3D点云图
