https://github.com/zju-fast-lab/laser_simulator

lightweight laser simulator
https://github.com/zju-fast-lab/laser_simulator

Last synced: 5 months ago
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lightweight laser simulator

• Host: GitHub
• URL: https://github.com/zju-fast-lab/laser_simulator
• Owner: ZJU-FAST-Lab
• Created: 2020-10-11T13:30:44.000Z (almost 6 years ago)
• Default Branch: main
• Last Pushed: 2022-04-26T12:45:18.000Z (over 4 years ago)
• Last Synced: 2025-04-04T11:46:43.703Z (over 1 year ago)
• Language: C++
• Size: 8.5 MB
• Stars: 28
• Watchers: 4
• Forks: 4
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

          
# laser_simulator

A laser simulator rospackage.

Takes in a global point cloud map, and output the observed point cloud in _laser coordinate_ according to the input odometry.



  



## Usage

Change the __odom_topic__ and __map_topic__ in __/launch/params.yaml__ to fit your own.

Tunable parameters are described in __/launch/params.yaml__.

## Example

After building, in two separate terminal, run 

$ roslaunch laser_simulator laser_sim.launch

$ roslaunch laser_simulator play_bag.launch

and you will see



  



GPU version on the way...