ros-drivers/velodyne — pull request #36 by ddillenberger (2014-10-17 16:34:16+00:00)
Title: Hdl32e imu gps receiver

Hello,

I implemented a IMU/GPS receiver for the HDL 32E LIDAR earlier this year.
It can be used together with the nmea_navsat_driver as it just extracts the NMEA sentence and publishes it. The IMU data are sent via a geometry_msgs/TwistStamped message.
The GPS clock is also extracted and sent via a std_msgs/Time message.

The node has two parameters "device_ip" and "udpport", so supports multiple devices.

Possibly you would like to ship it with your driver.

Denis