velodyne_monitor#

Purpose#

This node monitors the status of Velodyne LiDARs. The result of the status is published as diagnostics.

The status of Velodyne LiDAR can be retrieved from http://[ip_address]/cgi/{info, settings, status, diag}.json.

The types of abnormal status and corresponding diagnostics status are following.

Abnormal status	Diagnostic status
No abnormality	OK
Top board temperature is too cold	ERROR
Top board temperature is cold	WARN
Top board temperature is too hot	ERROR
Top board temperature is hot	WARN
Bottom board temperature is too cold	ERROR
Bottom board temperature is cold	WARN
Bottom board temperature is too hot	ERROR
Bottom board temperature is hot	WARN
Rpm(Rotations per minute) of the motor is too low	ERROR
Rpm(Rotations per minute) of the motor is low	WARN
Connection error (cannot get Velodyne LiDAR status)	ERROR

None

Name	Type	Description
`/diagnostics`	`diagnostic_msgs/DiagnosticArray`	Diagnostics outputs

Name	Type	Default Value	Description
`timeout`	double	0.5	Timeout for HTTP request to get Velodyne LiDAR status [s]

Name	Type	Default Value	Description
`ip_address`	string	"192.168.1.201"	IP address of target Velodyne LiDAR
`temp_cold_warn`	double	-5.0	If the temperature of Velodyne LiDAR is lower than this value, the diagnostics status becomes WARN [°C]
`temp_cold_error`	double	-10.0	If the temperature of Velodyne LiDAR is lower than this value, the diagnostics status becomes ERROR [°C]
`temp_hot_warn`	double	75.0	If the temperature of Velodyne LiDAR is higher than this value, the diagnostics status becomes WARN [°C]
`temp_hot_error`	double	80.0	If the temperature of Velodyne LiDAR is higher than this value, the diagnostics status becomes ERROR [°C]
`rpm_ratio_warn`	double	0.80	If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes WARN
`rpm_ratio_error`	double	0.70	If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes ERROR

TBD.