Livox_simulation_customMsg

Livox simulation for Ubuntu18 and Gazebo 9, and can export 3 Ros messages: PointCloud, PointCloud2 and CustomMsg, they can be used in A-LOAM, Fast-LIO and so on.

Refer to https://github.com/lvfengchi/livox_laser_simulation

Some tips

You can change the msg by change the pointcloudType in src/livox_points_plugin.cpp line 101

You are also allowed to change the type of lidar in src/livox_points_plugin.cpp line 54. If you want to use .xacro model file, just skip this step, while using .sdf, please config the path of csv file.

Livox Laser Simulation

A package to provide plug-in for Livox Series LiDAR.

Requirements

• ROS(=Melodic)
• Gazebo (= 9.x, http://gazebosim.org/)
• Ubuntu(=18.04)

Results

• avia

• mid40

• mid70

• tele

• horizon

Usage

Note that the version of gazebo in main branch is gazebo 9.18. If you use gazebo 7, checkout to "gazebo7" branch.

Before you write your urdf file by using this plugin, catkin_make/catkin build is needed.

A simple demo is shown in livox_simulation.launch

Run

    roslaunch livox_laser_simulation livox_simulation.launch

to see.

We can choose the lidar model by selecting different CSV file in scan_mode dir from changing the launch file:

• avia.csv
• horizon.csv
• mid40.csv
• mid70.csv
• tele.csv

Parameters(only for display , and example by avia)

• laser_min_range: 0.1 // min detection range
• laser_max_range: 200.0 // max detection range
• horizontal_fov: 70.4 //°
• vertical_fov: 77.2 //°
• ros_topic: scan // topic in ros
• samples: 24000 // number of points in each scan loop
• downsample: 1 // we can increment this para to decrease the consumption