Livox Laser Simulation

A package to provide plug-in for Livox Series LiDAR.

Requirements

• ROS(=Kinectic)
• Gazebo (= 9.x, http://gazebosim.org/)
• Ubuntu(=18.04)
• Install libode-dev

Results

• avia

• mid40

• mid70

• tele

• horizon

Usage

Note that the published point cloud message is sensor_msg/PointCloud in main branch. If you want to obtain snesor_msg/PointCloud2 message, you can checkout to "PointCloud2-ver" branch.

Before you write your urdf file by using this plugin, catkin_make/catkin build is needed.

A simple demo is shown in livox_simulation.launch

Run

    roslauch livox_laser_simulation livox_simulation.launch

to see.

We can choose the lidar model by selecting different CSV file in scan_mode dir from changing the launch file:

• avia.csv
• horizon.csv
• mid40.csv
• mid70.csv
• tele.csv

Parameters(example by avia)

• laser_min_range: 0.1 // min detection range
• laser_max_range: 200.0 // max detection range
• horizontal_fov: 70.4 //°
• vertical_fov: 77.2 //°
• ros_topic: scan // topic in ros
• samples: 24000 // number of points in each scan loop
• downsample: 1 // we can increment this para to decrease the consumption

This repository is now maintained by CaoMing(https://github.com/EpsAvlc) and LvFengchi. Its appreciate with the help of Caoming!