Computer setup and Network setting for LIDAR VLP-16 to the ROS and Ubuntu

• Computer setup

• Connect the LIDAR sensor with the computer via LAN cable to the ethernet port and power on the LIDAR
• Now the red light starts blinking on the LIDAR hub
• Turn the wifi of the computer off

• Configure the computer IP address 

• First of all open setting which is in the application and at the top right corner

• Now clock on the tab network on the left column and then click on the "+" sign to add ethernet network manually

• After clicking on the "+" sign one dialog box will open which is looking like the box given below. add the name for the velodyne network in the "Identity->name".

• Now go to IPv4 to set the address and netmask and then click on the save or add to generate the connection with lidar 

• Checking the configuration
• To check if your lidar is connected with your computer open the 192.168.1.201 ip address in your web browser. Following page should be appear:

• Installing the ROS dependencies
• Run the following code in your terminal
• sudo apt-get install ros-VERSION-velodyne
• Ex. sudo apt-get install ros-melodic-velodyne

• Install the Velodyne driver in ROS
• Run the following command lines step by step
• cd ~/catkin_ws/src
• git clone https://github.com/ros-drivers/velodyne.git
• cd ..
• rosdep install --from-paths src --ingnore-src --rosdistro melodic -y
• catkin_make

• See the velodyne data 
• Run the following commands in different terminals:

1. source ~/catkin_ws/devel/setup.bash && roslaunch velodyne_pointcloud VLP16-points.launch
2. rostopic echo /velodyne_points
3. rosrun rviz rviz -f velodyne

• following window will appear: