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Repository Summary
Checkout URI | https://github.com/tomlogan501/robosense_simulator.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2020-03-31 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robosense_description | 1.0.0 |
robosense_gazebo_plugins | 1.0.0 |
robosense_simulator | 1.0.0 |
README
Robosense Simulator
URDF description and Gazebo plugins to simulate Robosense laser scanners. Cloned and adapted from velodyne_simulator
Features
- URDF with colored meshes
- Gazebo plugin based on gazebo_plugins/gazebo_ros_block_laser
- Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
- Simulated Gaussian noise
- GPU acceleration (with a modern Gazebo build)
- Supported models:
- RS-LiDAR-16
- 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. Defaultbase_link
-
name
URDF model name. Also used as tf frame_id for PointCloud2 output. Defaultrobosense
*topic
PointCloud2 output topic name. Default/rs_points
-
hz
Update rate in hz. Default20
*lasers
Number of vertical spinning lasers. DefaultRS-16: 16
*samples
Number of horizontal rotating samples. DefaultRS-16: 900
*min_range
Minimum range value in meters. Default0.9
-
max_range
Maximum range value in meters. Default130.0
*noise
Gausian noise value in meters. Default0.008
-
min_angle
Minimum horizontal angle in radians. Default-3.14
*max_angle
Maximum horizontal angle in radians. Default3.14
-
gpu
Use gpu_ray sensor instead of the standard ray sensor. Defaultfalse
*min_intensity
The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.
Known Issues
Example Gazebo Robot
roslaunch robosense_description example.launch
Example Gazebo Robot (with GPU)
roslaunch robosense_description example.launch gpu:=true
CONTRIBUTING
No CONTRIBUTING.md found.
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