https://github.com/advrhumanoids/velodyne_simulator

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https://github.com/advrhumanoids/velodyne_simulator

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Fork from https://bitbucket.org/DataspeedInc/velodyne_simulator.git/src

• Host: GitHub
• URL: https://github.com/advrhumanoids/velodyne_simulator
• Owner: ADVRHumanoids
• License: other
• Created: 2024-10-17T09:09:58.000Z (29 days ago)
• Default Branch: master
• Last Pushed: 2024-10-17T14:55:18.000Z (29 days ago)
• Last Synced: 2024-10-19T13:14:31.576Z (27 days ago)
• Language: C++
• Size: 482 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

![rviz screenshot](img/rviz.png)

# Features

* URDF with colored meshes

* Gazebo plugin based on [gazebo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp)

* Publishes PointCloud2 with same structure (x, y, z, intensity, ring, time)

* Simulated Gaussian noise

* GPU acceleration ([with a modern Gazebo build](gazebo_upgrade.md))

* Supported models:

    * [VLP-16](velodyne_description/urdf/VLP-16.urdf.xacro)

    * [HDL-32E](velodyne_description/urdf/HDL-32E.urdf.xacro)

    * Pull requests for other models are welcome

* Experimental support for clipping low-intensity returns

# Parameters

* ```*origin``` URDF transform from parent link.

* ```parent``` URDF parent link name. Default ```base_link```

* ```name``` URDF model name. Also used as tf frame_id for PointCloud2 output. Default ```velodyne```

* ```topic``` PointCloud2 output topic name. Default ```/velodyne_points```

* ```hz``` Update rate in hz. Default ```10```

* ```lasers``` Number of vertical spinning lasers. Default ```VLP-16: 16, HDL-32E: 32```

* ```samples``` Nuber of horizontal rotating samples. Default ```VLP-16: 1875, HDL-32E: 2187```

* ```organize_cloud``` Organize PointCloud2 into 2D array with NaN placeholders, otherwise 1D array and leave out invlaid points. Default ```false```

* ```min_range``` Minimum range value in meters. Default ```0.9```

* ```max_range``` Maximum range value in meters. Default ```130.0```

* ```noise``` Gausian noise value in meters. Default ```0.008```

* ```min_angle``` Minimum horizontal angle in radians. Default ```-3.14```

* ```max_angle``` Maximum horizontal angle in radians. Default ```3.14```

* ```gpu``` Use gpu_ray sensor instead of the standard ray sensor. Default ```false```

* ```min_intensity``` The minimum intensity beneath which returns will be clipped.  Can be used to remove low-intensity objects.

# Known Issues

* At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E

* With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option ([issue](https://bitbucket.org/osrf/gazebo/issues/946/),[image](img/gpu.png))

    * Solution: Upgrade to a [modern Gazebo version](gazebo_upgrade.md)

* Gazebo cannot maintain 10Hz with large pointclouds

    * Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see [example.urdf.xacro](velodyne_description/urdf/example.urdf.xacro)

* Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."

    * Solution: User can reduce number of points in urdf (same as above)

# Example Gazebo Robot

```roslaunch velodyne_description example.launch```

# Example Gazebo Robot (with GPU)

```roslaunch velodyne_description example.launch gpu:=true```