robosense_simulator repository

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
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Robosense Simulator

URDF description and Gazebo plugins to simulate Robosense laser scanners. Cloned and adapted from velodyne_simulator

Docker Image CI kinetic/melodic

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default robosense * topic PointCloud2 output topic name. Default /rs_points
  • hz Update rate in hz. Default 20 * lasers Number of vertical spinning lasers. Default RS-16: 16 * samples Number of horizontal rotating samples. Default RS-16: 900 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * 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

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