Livox Laser Simulation

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

Requirements

• ROS(=Kinectic/Melodic)
• Gazebo (= 7.0/9.0)

Results

Branchs

main branch

• enviroment: ROS Melodic + Gazebo 9
• pointcloud type:
  • sensor_msg::pointcloud
  • sensor_msg::pointcloud2(pcl::Pointcloud<pcl::PointXYZI>)
  • sensor_msg::pointcloud2(pcl::Pointcloud<pcl::LivoxPointXyzrtl>)
  • livox_ros_driver::CustomMsg

Dependence

• livox_ros_driver

Usage

If you use gazebo 9, checkout to "gazebo-9-ver" branch. The gazebo-9 version is maintained by jp-ipu.

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.

Change sensor by change the following lines in the robot.xacro into another xacro file.

  <xacro:include filename="$(find livox_laser_simulation)/urdf/livox_horizon.xacro"/>
  <Livox_Horizon name="livox" visualize="true" publish_pointcloud_type="2"/>

• 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
• publish_pointcloud_type: 0 // 0 for sensor_msgs::PointCloud, 1 for sensor_msgs::Pointcloud2(PointXYZI), 2 for sensor_msgs::PointCloud2(LivoxPointXyzrtl) 3 for livox_ros_driver::CustomMsg.

Simulation for mapping

Currently Fast-LIO is tested when publish_pointcloud_type = 3。

Enjoy it and feel free to report bugs.

This repository is now maintained by EpsAvlc and LvFengchi.