voyant_points_mock_stream

Generate mock point cloud data for testing without a physical sensor. Useful for development, testing, and demonstrations.

Use voyant_points_mock_stream --help to see all available options.

Usage

Generate Mock Data Stream

voyant_points_mock_stream --bind-addr 127.0.0.1:0 --group-addr 224.0.0.0:4444

Test Point Filtering

Add invalid points to the center of the point cloud to test filtering:

voyant_points_mock_stream --drop-center --bind-addr 127.0.0.1:0 --group-addr 224.0.0.0:4444

Complete Testing Workflow

Step 1: Generate Mock Data

In your first terminal:

voyant_points_mock_stream --bind-addr 127.0.0.1:0 --group-addr 224.0.0.0:4444

Step 2: Visualize with Foxglove Bridge

In a second terminal:

voyant_foxglove_bridge --bind-addr 0.0.0.0:4444 --group-addr 224.0.0.0 --interface-addr 127.0.0.1

Note the different interface address (127.0.0.1) compared to a physical sensor.

Step 3: Record Mock Data (Optional)

In a third terminal:

voyant_logger_binary --output my_recording.bin --bind-addr 0.0.0.0:4444 --group-addr 224.0.0.0 --interface-addr 127.0.0.1

This creates a binary file that you can replay using voyant_playback_foxglove.

Troubleshooting

Multicast Routing on Localhost

If you’re having trouble with multicast connections on localhost, you may need to add a multicast route:

sudo ip route add 224.0.0.0/24 dev lo

Docker Container Access

To run commands in multiple terminals within the same Docker container:

docker exec -it voyant-sdk-container bash