{"id":41633821,"url":"https://github.com/uos/radarays_gazebo_plugins","last_synced_at":"2026-01-24T14:40:14.558Z","repository":{"id":210751590,"uuid":"727345104","full_name":"uos/radarays_gazebo_plugins","owner":"uos","description":"Rotating FMCW Radar Simulation in Gazebo","archived":false,"fork":false,"pushed_at":"2024-03-26T13:13:10.000Z","size":342,"stargazers_count":6,"open_issues_count":1,"forks_count":2,"subscribers_count":7,"default_branch":"main","last_synced_at":"2024-03-27T14:32:03.225Z","etag":null,"topics":["gazebo","gazebo-plugin","navtech","radar","ros"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/uos.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,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2023-12-04T17:18:25.000Z","updated_at":"2024-03-26T11:28:28.000Z","dependencies_parsed_at":null,"dependency_job_id":"e31f5bf7-a32c-4a97-9b89-689e991b85a2","html_url":"https://github.com/uos/radarays_gazebo_plugins","commit_stats":{"total_commits":3,"total_committers":1,"mean_commits":3.0,"dds":0.0,"last_synced_commit":"5e7f8d47439c237c510fda2d66210c436bf46afb"},"previous_names":["uos/radarays_gazebo_plugins"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/uos/radarays_gazebo_plugins","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_gazebo_plugins","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_gazebo_plugins/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_gazebo_plugins/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_gazebo_plugins/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/uos","download_url":"https://codeload.github.com/uos/radarays_gazebo_plugins/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_gazebo_plugins/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28729984,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T10:24:43.181Z","status":"ssl_error","status_checked_at":"2026-01-24T10:24:36.112Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"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":["gazebo","gazebo-plugin","navtech","radar","ros"],"created_at":"2026-01-24T14:40:13.257Z","updated_at":"2026-01-24T14:40:14.552Z","avatar_url":"https://github.com/uos.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# radarays_gazebo_plugins\n\n[radarays_ros](https://github.com/uos/radarays_ros) Gazebo plugin.\n\n## Dependencies\n\n- rmagine (embree / optix backend)\n- rmagine_gazebo_plugins\n- radarays_ros\n\n## Raytracing acceleration structure - World file\n\nFor constructing and continuously updating the acceleration structure for ray tracing, add the following lines to your world files:\n\n```xml\n\u003csdf version=\"1.4\"\u003e\n\u003cworld name=\"default\"\u003e\n\n...\n\n\u003c!-- CPU: Embree Map Plugin --\u003e\n\u003cplugin name='rmagine_embree_map' filename='librmagine_embree_map_gzplugin.so'\u003e\n  \u003cupdate\u003e\n    \u003cdelta_trans\u003e0.001\u003c/delta_trans\u003e\n    \u003cdelta_rot\u003e0.001\u003c/delta_rot\u003e\n    \u003cdelta_scale\u003e0.001\u003c/delta_scale\u003e\n    \u003crate_limit\u003e200\u003c/rate_limit\u003e\n  \u003c/update\u003e\n\u003c/plugin\u003e\n\n\u003c!-- Optix Map Plugin --\u003e\n\u003cplugin name='rmagine_optix_map' filename='librmagine_optix_map_gzplugin.so'\u003e\n  \u003cupdate\u003e\n    \u003cdelta_trans\u003e0.001\u003c/delta_trans\u003e\n    \u003cdelta_rot\u003e0.001\u003c/delta_rot\u003e\n    \u003cdelta_scale\u003e0.001\u003c/delta_scale\u003e\n    \u003crate_limit\u003e500\u003c/rate_limit\u003e\n  \u003c/update\u003e\n\u003c/plugin\u003e\n\n...\n\n\u003c/world\u003e\n\u003c/sdf\u003e\n```\n\nSee [rmagine_gazebo_plugins](https://github.com/uos/rmagine_gazebo_plugins) for further explanations on that.\n\n## Materials\n\nYou can assign so called `radarays_materials` to visuals of a model. An example is in `worlds/avz_collada.world`:\n\n```xml\n...\n\u003cmodel name=\"avz_map\"\u003e\n  \u003cstatic\u003etrue\u003c/static\u003e\n  \u003clink name=\"avz_map_link\"\u003e\n    \u003cpose\u003e0 0 0 0 0 0\u003c/pose\u003e\n    \u003cvisual name=\"avz_map_visual\"\u003e\n      \u003ccast_shadows\u003efalse\u003c/cast_shadows\u003e\n      \u003cgeometry\u003e\n        \u003cmesh\u003e\n            \u003curi\u003e./avz_no_roof.stl\u003c/uri\u003e\n            \u003cscale\u003e1.0 1.0 1.0\u003c/scale\u003e\n        \u003c/mesh\u003e\n      \u003c/geometry\u003e\n      \u003cradarays_material\u003e\n        \u003cvelocity\u003e0.0\u003c/velocity\u003e\n        \u003cambient\u003e1.0\u003c/ambient\u003e\n        \u003cdiffuse\u003e0.0\u003c/diffuse\u003e\n        \u003cspecular\u003e3000.0\u003c/specular\u003e\n      \u003c/radarays_material\u003e\n    \u003c/visual\u003e\n...\n```\n\n## Examples\n\nImportant files are:\n- urdf/robot_radar_cpu.urdf -\u003e URDF for a robot with a radar sensor simulated on CPU\n- urdf/robot_radar_gpu.urdf -\u003e URDF for a robot with a radar sensor simulated on GPU\n- worlds/avz_collada.world -\u003e Gazebo world-file that contains a mesh of an office with `radarays_materials` attached to it.\n\n### example_robot.launch\n\nExample for a robot that is spawned in a office-like environment, with `radarays_materials` attached to it. \n\nRun CPU version of radarays with Gazebo by calling\n\n```console\nroslaunch radarays_gazebo_plugins example_robot.launch rmagine:=embree\n```\n\nRun GPU version of radarays with Gazebo by calling\n\n```console\nroslaunch radarays_gazebo_plugins example_robot.launch rmagine:=optix\n```\n\n![Teaser](media/radarays_gazebo_plugin.png)\n\n\n## Radar Parameters\n\nYou can change the radar parameters of the Gazebo simulation using dynamic reconfigure:\n\n```console\nrosrun rqt_reconfigure rqt_reconfigure\n```\n\nNote: We are using the same set of parameters (configuration file) we used for the experiments in `radarays_ros`:\n- Some parameters are only used in the experiments but not in the Gazebo simulation\n- For the sake of performance, the Gazebo plugin does not consider the robot's motion while simulating a polar image. (we will add this in the future)\n\n## Known Issues\n- At some point I got a segmentation fault when using rmagine's CPU simulators inside of the Gazebo threads. Unfortunately, I couldn't reproduce those errors.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Fradarays_gazebo_plugins","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fuos%2Fradarays_gazebo_plugins","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Fradarays_gazebo_plugins/lists"}