https://github.com/marip8/simulated_lidar_scanner
ROS package for a simulated LiDAR scanner
https://github.com/marip8/simulated_lidar_scanner
ros ros-industrial simulation
Last synced: about 1 month ago
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ROS package for a simulated LiDAR scanner
- Host: GitHub
- URL: https://github.com/marip8/simulated_lidar_scanner
- Owner: marip8
- License: apache-2.0
- Created: 2018-02-15T19:41:50.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2022-09-21T23:58:54.000Z (almost 4 years ago)
- Last Synced: 2025-03-14T05:28:00.631Z (over 1 year ago)
- Topics: ros, ros-industrial, simulation
- Language: C++
- Homepage:
- Size: 4.44 MB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Simulated Lidar Scanner
![Simulated Lidar Scanner][1]
## Description
The Simulated Lidar Scanner package is a ROS implementation of the [Synthetic Lidar Scanner package][2] created by [daviddoria][3].
The package parses an input URDF for all static geometry, and then performs raycasting using VTK libraries to simulate the output of a LiDAR sensor,
Time-of-flight (TOF) camera, or 3D depth sensor.
## Dependencies
This package depends on VTK 6.2.
## Usage
### Simulated Lidar Scanner Node
**Parameters**
*Scanner-specific parameters* (to be saved in a .yaml file)
+ `scanner/scan_frequency` (double; hz)
- **Required:** update frequency of the scanner
+ `scanner/theta_span` (double; degrees)
- **Required:** horizontal field of view of the scanner, from -360 to +360
+ `scanner/phi_span` (double; degrees)
- **Required:** vertical field of view of the scanner, from -180 to +180
+ `scanner/theta_points` (int)
- **Required:** number of rays to be cast in the horizontal direction
+ `scanner/phi_points` (int)
- **Required:** number of rays to be cast in the vertical direction
+ `scanner/los_variance` (double; meters; default: 0.0)
- Scanner noise in the direction of the cast ray
+ `scanner/orthogonal_variance` (double; meters; default: 0.0)
- Scanner noise orthogonal to the direction of the cast ray
+ `scanner/max_incidence_angle` (double; degrees; default: 0.0)
- The maximum angle of incidence at which the sensor can pick up a return signal
+ `scanner/max_distance` (double; meters; default: 0.0)
- The maximum sensor operational distance
*Use-case specific parameters*
+ `params_file` (string)
- **Required:** file location of the scanner-specific parameters .yaml file
+ `fixed_frame` (string)
- **Required:** root, fixed frame of the URDF
+ `scanner_frame` (string)
- **Required:** frame to which the scanner is attached
+ `scanner_name` (string)
- **Required:** user-defined name of the scanner, used to disambiguate scanner publisher topic names
+ `tf_filter_distance` (double; meters; default: 0.0)
- Distance by which the scanner frame must move relative to its previous position in order to trigger a new ray-casting operation
+ `tf_filter_angle` (double; degrees; default: 0.0)
- Angle, by which the scanner frame must move relative to its previous orientation in order to trigger a new ray-casting operation
**Published Topics**
+ `sensor_data/[scanner_name]` (sensor_msgs/PointCloud2)
- The topic on which the output point cloud is published
### Scanner Relocator Node
This 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.
**Parameters**
+ `scanner_parent_frame` (string)
- **Required:** frame in which to initially place simulated lidar scanner(s) before manipulation
+ `scanner_frames` (list of strings)
- **Required:** list of frames corresponding to the `scanner_frame` parameter in each simulated lidar scanner to be manipulated
## Example
This 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.
`roslaunch simulated_lidar_scanner lidar_test.launch`
Currently 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:
`rosnode kill /scanner_relocator`
`rosrun simulated_lidar_scanner scanner_relocator`
[1]: simulated_lidar_scanner.gif
[2]: https://github.com/daviddoria/SyntheticLidarScanner
[3]: https://github.com/daviddoria