{"id":21086319,"url":"https://github.com/marip8/simulated_lidar_scanner","last_synced_at":"2026-05-15T21:37:49.106Z","repository":{"id":44568472,"uuid":"121673944","full_name":"marip8/simulated_lidar_scanner","owner":"marip8","description":"ROS package for a simulated LiDAR scanner","archived":false,"fork":false,"pushed_at":"2022-09-21T23:58:54.000Z","size":4652,"stargazers_count":0,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-14T05:28:00.631Z","etag":null,"topics":["ros","ros-industrial","simulation"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/marip8.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-02-15T19:41:50.000Z","updated_at":"2022-01-18T20:04:35.000Z","dependencies_parsed_at":"2023-01-18T18:01:39.008Z","dependency_job_id":null,"html_url":"https://github.com/marip8/simulated_lidar_scanner","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/marip8/simulated_lidar_scanner","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/marip8%2Fsimulated_lidar_scanner","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/marip8%2Fsimulated_lidar_scanner/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/marip8%2Fsimulated_lidar_scanner/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/marip8%2Fsimulated_lidar_scanner/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/marip8","download_url":"https://codeload.github.com/marip8/simulated_lidar_scanner/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/marip8%2Fsimulated_lidar_scanner/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266019657,"owners_count":23864916,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ros","ros-industrial","simulation"],"created_at":"2024-11-19T20:44:26.773Z","updated_at":"2026-05-15T21:37:49.076Z","avatar_url":"https://github.com/marip8.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Simulated Lidar Scanner\n\n![Simulated Lidar Scanner][1]\n\n## Description\n\nThe Simulated Lidar Scanner package is a ROS implementation of the [Synthetic Lidar Scanner package][2] created by [daviddoria][3].\nThe package parses an input URDF for all static geometry, and then performs raycasting using VTK libraries to simulate the output of a LiDAR sensor,\nTime-of-flight (TOF) camera, or 3D depth sensor.\n\n## Dependencies\n\nThis package depends on VTK 6.2.\n\n## Usage\n\n### Simulated Lidar Scanner Node\n\n**Parameters**\n\n*Scanner-specific parameters* (to be saved in a .yaml file)\n+ `scanner/scan_frequency` (double; hz)\n  - **Required:** update frequency of the scanner\n+ `scanner/theta_span` (double; degrees)\n  - **Required:** horizontal field of view of the scanner, from -360 to +360\n+ `scanner/phi_span` (double; degrees)\n  - **Required:** vertical field of view of the scanner, from -180 to +180\n+ `scanner/theta_points` (int)\n  - **Required:** number of rays to be cast in the horizontal direction\n+ `scanner/phi_points` (int)\n  - **Required:** number of rays to be cast in the vertical direction\n+ `scanner/los_variance` (double; meters; default: 0.0)\n  - Scanner noise in the direction of the cast ray\n+ `scanner/orthogonal_variance` (double; meters; default: 0.0)\n  - Scanner noise orthogonal to the direction of the cast ray\n+ `scanner/max_incidence_angle` (double; degrees; default: 0.0)\n  - The maximum angle of incidence at which the sensor can pick up a return signal\n+ `scanner/max_distance` (double; meters; default: 0.0)\n  - The maximum sensor operational distance\n\n*Use-case specific parameters*\n+ `params_file` (string)\n  - **Required:** file location of the scanner-specific parameters .yaml file\n+ `fixed_frame` (string)\n  - **Required:** root, fixed frame of the URDF\n+ `scanner_frame` (string)\n  - **Required:** frame to which the scanner is attached\n+ `scanner_name` (string)\n  - **Required:** user-defined name of the scanner, used to disambiguate scanner publisher topic names\n+ `tf_filter_distance` (double; meters; default: 0.0)\n  - Distance by which the scanner frame must move relative to its previous position in order to trigger a new ray-casting operation\n+ `tf_filter_angle` (double; degrees; default: 0.0)\n  - Angle, by which the scanner frame must move relative to its previous orientation in order to trigger a new ray-casting operation\n\n**Published Topics**\n+ `sensor_data/[scanner_name]` (sensor_msgs/PointCloud2)\n  - The topic on which the output point cloud is published\n\n\n### Scanner Relocator Node\n\nThis package also contains a node which allows the position and orientation of one or multiple simulated lidar scanners to be manipulated using interactive markers in Rviz.\n\n**Parameters**\n+ `scanner_parent_frame` (string)\n  - **Required:** frame in which to initially place simulated lidar scanner(s) before manipulation\n+ `scanner_frames` (list of strings)\n  - **Required:** list of frames corresponding to the `scanner_frame` parameter in each simulated lidar scanner to be manipulated\n\n## Example\n\nThis demo creates two simulated lidar scanners (based on the parameters in the `test/test_params.yaml` file) which can be manipulated to observe the object in the URDF.\n\n`roslaunch simulated_lidar_scanner lidar_test.launch`\n\nCurrently the interactive markers do not appear when the demo is initiallly launched. To see and interact with them, kill and restart the `scanner_relocator` node:\n\n`rosnode kill /scanner_relocator`\n\n`rosrun simulated_lidar_scanner scanner_relocator`\n\n\n[1]: simulated_lidar_scanner.gif\n[2]: https://github.com/daviddoria/SyntheticLidarScanner\n[3]: https://github.com/daviddoria\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmarip8%2Fsimulated_lidar_scanner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmarip8%2Fsimulated_lidar_scanner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmarip8%2Fsimulated_lidar_scanner/lists"}