Getting the Velodyne to work

We spent the day working on demonstrating intersection navigation including vehicle avoidance. We were able to demonstrate intersection navigation with empty obstacle maps. However we ran into technical difficulties when trying to translate the maps generated by the velodyne to the
planner.

Paul has helped me out and the Velodyne can render beautiful point clouds in real time. Now that we have the correct calibration for our unit we can watch people walk down the sidewalk from 20m away, and see 5+ cars around a busy intersection. Hopefully we can post some of the recorded data into videos soon.

Tully